2013-10-30 02:10:39 +01:00
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/*
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2013-12-31 02:44:46 +01:00
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cpu_map.h - CPU and pin mapping configuration file
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2015-02-16 01:36:08 +01:00
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Part of Grbl
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2013-10-30 02:10:39 +01:00
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|
Grbl v1.0e huge beta release. Overrides and new reporting.
- Feature: Realtime feed, rapid, and spindle speed overrides. These
alter the running machine state within tens of milliseconds!
- Feed override: 100%, +/-10%, +/-1% commands with values 1-200% of
programmed feed
- Rapid override: 100%, 50%, 25% rapid rate commands
- Spindle speed override: 100%, +/-10%, +/-1% commands with values
50-200% of programmed speed
- Override values have configurable limits and increments in
config.h.
- Feature: Realtime toggle overrides for spindle stop, flood coolant,
and optionally mist coolant
- Spindle stop: Enables and disables spindle during a feed hold.
Automatically restores last spindles state.
- Flood and mist coolant: Immediately toggles coolant state until
next toggle or g-code coolant command.
- Feature: Jogging mode! Incremental and absolute modes supported.
- Grbl accepts jogging-specific commands like $J=X100F50. An axis
word and feed rate are required. G20/21 and G90/G91 commands are
accepted.
- Jog motions can be canceled at any time by a feed hold `!`
command. The buffer is automatically flushed. (No resetting required).
- Jog motions do not alter the g-code parser state so GUIs don’t
have to track what they changed and correct it.
- Feature: Laser mode setting. Allows Grbl to execute continuous
motions with spindle speed and state changes.
- Feature: Significantly improved status reports. Overhauled to cram in
more meaningful data and still make it smaller on average.
- All available data is now sent by default, but does not appear if
it doesn’t change or is not active.
- Machine position(MPos) or work position(WPos) is reported but not
both at the same time. Instead, the work coordinate offsets (WCO)are
sent intermittently whenever it changes or refreshes after 10-30 status
reports. Position vectors are easily computed by WPos = MPos - WCO.
- All data has changed in some way. Details of changes are in the
markdown documents and wiki.
- Feature: 16 new realtime commands to control overrides. All in
extended-ASCII character space.
- While they are not easily typeable and requires a GUI, they can’t
be accidentally triggered by some latent character in the g-code
program and have tons of room for expansion.
- Feature: New substates for HOLD and SAFETY DOOR. A `:x` is appended
to the state, where `x` is an integer and indicates a substate.
- For example, each integer of a door state describes in what phase
the machine is in during parking. Substates are detailed in the
documentation.
- Feature: With the alarm codes, homing and probe alarms have been
expanded with more codes to provide more exact feedback on what caused
the alarm.
- Feature: New hard limit check upon power-up or reset. If detected, a
feedback message to check the limit switches sent immediately after the
welcome message.
- May be disabled in config.h.
- OEM feature: Enable/disable `$RST=` individual commands based on
desired behavior in config.h.
- OEM feature: Configurable EEPROM wipe to prevent certain data from
being deleted during firmware upgrade to a new settings version or
`RST=*` command.
- OEM feature: Enable/disable the `$I=` build info write string with
external EEPROM write example sketch.
- This prevents a user from altering the build info string in
EEPROM. This requires the vendor to write the string to EEPROM via
external means. An Arduino example sketch is provided to accomplish
this. This would be useful for contain product data that is
retrievable.
- Tweak: All feedback has been drastically trimmed to free up flash
space for the v1.0 release.
- The `$` help message is just one string, listing available
commands.
- The `$$` settings printout no longer includes descriptions. Only
the setting values. (Sorry it’s this or remove overrides!)
- Grbl `error:` and `ALARM:` responses now only contain codes. No
descriptions. All codes are explained in documentation.
- Grbl’s old feedback style may be restored via a config.h, but
keep in mind that it will likely not fit into the Arduino’s flash space.
- Tweak: Grbl now forces a buffer sync or stop motion whenever a g-code
command needs to update and write a value to EEPROM or changes the work
coordinate offset.
- This addresses two old issues in all prior Grbl versions. First,
an EEPROM write requires interrupts to be disabled, including stepper
and serial comm. Steps can be lost and data can be corrupted. Second,
the work position may not be correlated to the actual machine position,
since machine position is derived from the actual current execution
state, while work position is based on the g-code parser offset state.
They are usually not in sync and the parser state is several motions
behind. This forced sync ensures work and machine positions are always
correct.
- This behavior can be disabled through a config.h option, but it’s
not recommended to do so.
- Tweak: To make status reports standardized, users can no longer
change what is reported via status report mask, except for only
toggling machine or work positions.
- All other data fields are included in the report and can only be
disabled through the config.h file. It’s not recommended to alter this,
because GUIs will be expecting this data to be present and may not be
compatible.
- Tweak: Homing cycle and parking motion no longer report a negative
line number in a status report. These will now not report a line number
at all.
- Tweak: New `[Restoring spindle]` message when restoring from a
spindle stop override. Provides feedback what Grbl is doing while the
spindle is powering up and a 4.0 second delay is enforced.
- Tweak: Override values are reset to 100% upon M2/30. This behavior
can be disabled in config.h
- Tweak: The planner buffer size has been reduced from 18 to 16 to free
up RAM for tracking and controlling overrides.
- Tweak: TX buffer size has been increased from 64 to 90 bytes to
improve status reporting and overall performance.
- Tweak: Removed the MOTION CANCEL state. It was redundant and didn’t
affect Grbl’s overall operation by doing so.
- Tweak: Grbl’s serial buffer increased by +1 internally, such that 128
bytes means 128, not 127 due to the ring buffer implementation. Long
overdue.
- Tweak: Altered sys.alarm variable to be set by alarm codes, rather
than bit flags. Simplified how it worked overall.
- Tweak: Planner buffer and serial RX buffer usage has been combined in
the status reports.
- Tweak: Pin state reporting has been refactored to report only the
pins “triggered” and nothing when not “triggered”.
- Tweak: Current machine rate or speed is now included in every report.
- Tweak: The work coordinate offset (WCO) and override states only need
to be refreshed intermittently or reported when they change. The
refresh rates may be altered for each in the config.h file with
different idle and busy rates to lessen Grbl’s load during a job.
- Tweak: For temporary compatibility to existing GUIs until they are
updated, an option to revert back to the old style status reports is
available in config.h, but not recommended for long term use.
- Tweak: Removed old limit pin state reporting option from config.h in
lieu of new status report that includes them.
- Tweak: Updated the defaults.h file to include laser mode, altered
status report mask, and fix an issue with a missing invert probe pin
default.
- Refactor: Changed how planner line data is generated and passed to
the planner and onto the step generator. By making it a struct
variable, this saved significant flash space.
- Refactor: Major re-factoring of the planner to incorporate override
values and allow for re-calculations fast enough to immediately take
effect during operation. No small feat.
- Refactor: Re-factored the step segment generator for re-computing new
override states.
- Refactor: Re-factored spindle_control.c to accommodate the spindle
speed overrides and laser mode.
- Refactor: Re-factored parts of the codebase for a new jogging mode.
Still under development though and slated to be part of the official
v1.0 release. Hang tight.
- Refactor: Created functions for computing a unit vector and value
limiting based on axis maximums to free up more flash.
- Refactor: The spindle PWM is now set directly inside of the stepper
ISR as it loads new step segments.
- Refactor: Moved machine travel checks out of soft limits function
into its own since jogging uses this too.
- Refactor: Removed coolant_stop() and combined with
coolant_set_state().
- Refactor: The serial RX ISR forks off extended ASCII values to
quickly assess the new override realtime commands.
- Refactor: Altered some names of the step control flags.
- Refactor: Improved efficiency of the serial RX get buffer count
function.
- Refactor: Saved significant flash by removing and combining print
functions. Namely the uint8 base10 and base2 functions.
- Refactor: Moved the probe state check in the main stepper ISR to
improve its efficiency.
- Refactor: Single character printPgmStrings() went converted to direct
serial_write() commands to save significant flash space.
- Documentation: Detailed Markdown documents on error codes, alarm
codes, messages, new real-time commands, new status reports, and how
jogging works. More to come later and will be posted on the Wiki as
well.
- Documentation: CSV files for quick importing of Grbl error and alarm
codes.
- Bug Fix: Applied v0.9 master fixes to CoreXY homing.
- Bug Fix: The print float function would cause Grbl to crash if a
value was 1e6 or greater. Increased the buffer by 3 bytes to help
prevent this in the future.
- Bug Fix: Build info and startup string EEPROM restoring was not
writing the checksum value.
- Bug Fix: Corrected an issue with safety door restoring the proper
spindle and coolant state. It worked before, but breaks with laser mode
that can continually change spindle state per planner block.
- Bug Fix: Move system position and probe position arrays out of the
system_t struct. Ran into some compiling errors that were hard to track
down as to why. Moving them out fixed it.
2016-09-22 03:08:24 +02:00
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Copyright (c) 2012-2016 Sungeun K. Jeon for Gnea Research LLC
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2013-10-30 02:10:39 +01:00
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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|
Grbl v1.0e huge beta release. Overrides and new reporting.
- Feature: Realtime feed, rapid, and spindle speed overrides. These
alter the running machine state within tens of milliseconds!
- Feed override: 100%, +/-10%, +/-1% commands with values 1-200% of
programmed feed
- Rapid override: 100%, 50%, 25% rapid rate commands
- Spindle speed override: 100%, +/-10%, +/-1% commands with values
50-200% of programmed speed
- Override values have configurable limits and increments in
config.h.
- Feature: Realtime toggle overrides for spindle stop, flood coolant,
and optionally mist coolant
- Spindle stop: Enables and disables spindle during a feed hold.
Automatically restores last spindles state.
- Flood and mist coolant: Immediately toggles coolant state until
next toggle or g-code coolant command.
- Feature: Jogging mode! Incremental and absolute modes supported.
- Grbl accepts jogging-specific commands like $J=X100F50. An axis
word and feed rate are required. G20/21 and G90/G91 commands are
accepted.
- Jog motions can be canceled at any time by a feed hold `!`
command. The buffer is automatically flushed. (No resetting required).
- Jog motions do not alter the g-code parser state so GUIs don’t
have to track what they changed and correct it.
- Feature: Laser mode setting. Allows Grbl to execute continuous
motions with spindle speed and state changes.
- Feature: Significantly improved status reports. Overhauled to cram in
more meaningful data and still make it smaller on average.
- All available data is now sent by default, but does not appear if
it doesn’t change or is not active.
- Machine position(MPos) or work position(WPos) is reported but not
both at the same time. Instead, the work coordinate offsets (WCO)are
sent intermittently whenever it changes or refreshes after 10-30 status
reports. Position vectors are easily computed by WPos = MPos - WCO.
- All data has changed in some way. Details of changes are in the
markdown documents and wiki.
- Feature: 16 new realtime commands to control overrides. All in
extended-ASCII character space.
- While they are not easily typeable and requires a GUI, they can’t
be accidentally triggered by some latent character in the g-code
program and have tons of room for expansion.
- Feature: New substates for HOLD and SAFETY DOOR. A `:x` is appended
to the state, where `x` is an integer and indicates a substate.
- For example, each integer of a door state describes in what phase
the machine is in during parking. Substates are detailed in the
documentation.
- Feature: With the alarm codes, homing and probe alarms have been
expanded with more codes to provide more exact feedback on what caused
the alarm.
- Feature: New hard limit check upon power-up or reset. If detected, a
feedback message to check the limit switches sent immediately after the
welcome message.
- May be disabled in config.h.
- OEM feature: Enable/disable `$RST=` individual commands based on
desired behavior in config.h.
- OEM feature: Configurable EEPROM wipe to prevent certain data from
being deleted during firmware upgrade to a new settings version or
`RST=*` command.
- OEM feature: Enable/disable the `$I=` build info write string with
external EEPROM write example sketch.
- This prevents a user from altering the build info string in
EEPROM. This requires the vendor to write the string to EEPROM via
external means. An Arduino example sketch is provided to accomplish
this. This would be useful for contain product data that is
retrievable.
- Tweak: All feedback has been drastically trimmed to free up flash
space for the v1.0 release.
- The `$` help message is just one string, listing available
commands.
- The `$$` settings printout no longer includes descriptions. Only
the setting values. (Sorry it’s this or remove overrides!)
- Grbl `error:` and `ALARM:` responses now only contain codes. No
descriptions. All codes are explained in documentation.
- Grbl’s old feedback style may be restored via a config.h, but
keep in mind that it will likely not fit into the Arduino’s flash space.
- Tweak: Grbl now forces a buffer sync or stop motion whenever a g-code
command needs to update and write a value to EEPROM or changes the work
coordinate offset.
- This addresses two old issues in all prior Grbl versions. First,
an EEPROM write requires interrupts to be disabled, including stepper
and serial comm. Steps can be lost and data can be corrupted. Second,
the work position may not be correlated to the actual machine position,
since machine position is derived from the actual current execution
state, while work position is based on the g-code parser offset state.
They are usually not in sync and the parser state is several motions
behind. This forced sync ensures work and machine positions are always
correct.
- This behavior can be disabled through a config.h option, but it’s
not recommended to do so.
- Tweak: To make status reports standardized, users can no longer
change what is reported via status report mask, except for only
toggling machine or work positions.
- All other data fields are included in the report and can only be
disabled through the config.h file. It’s not recommended to alter this,
because GUIs will be expecting this data to be present and may not be
compatible.
- Tweak: Homing cycle and parking motion no longer report a negative
line number in a status report. These will now not report a line number
at all.
- Tweak: New `[Restoring spindle]` message when restoring from a
spindle stop override. Provides feedback what Grbl is doing while the
spindle is powering up and a 4.0 second delay is enforced.
- Tweak: Override values are reset to 100% upon M2/30. This behavior
can be disabled in config.h
- Tweak: The planner buffer size has been reduced from 18 to 16 to free
up RAM for tracking and controlling overrides.
- Tweak: TX buffer size has been increased from 64 to 90 bytes to
improve status reporting and overall performance.
- Tweak: Removed the MOTION CANCEL state. It was redundant and didn’t
affect Grbl’s overall operation by doing so.
- Tweak: Grbl’s serial buffer increased by +1 internally, such that 128
bytes means 128, not 127 due to the ring buffer implementation. Long
overdue.
- Tweak: Altered sys.alarm variable to be set by alarm codes, rather
than bit flags. Simplified how it worked overall.
- Tweak: Planner buffer and serial RX buffer usage has been combined in
the status reports.
- Tweak: Pin state reporting has been refactored to report only the
pins “triggered” and nothing when not “triggered”.
- Tweak: Current machine rate or speed is now included in every report.
- Tweak: The work coordinate offset (WCO) and override states only need
to be refreshed intermittently or reported when they change. The
refresh rates may be altered for each in the config.h file with
different idle and busy rates to lessen Grbl’s load during a job.
- Tweak: For temporary compatibility to existing GUIs until they are
updated, an option to revert back to the old style status reports is
available in config.h, but not recommended for long term use.
- Tweak: Removed old limit pin state reporting option from config.h in
lieu of new status report that includes them.
- Tweak: Updated the defaults.h file to include laser mode, altered
status report mask, and fix an issue with a missing invert probe pin
default.
- Refactor: Changed how planner line data is generated and passed to
the planner and onto the step generator. By making it a struct
variable, this saved significant flash space.
- Refactor: Major re-factoring of the planner to incorporate override
values and allow for re-calculations fast enough to immediately take
effect during operation. No small feat.
- Refactor: Re-factored the step segment generator for re-computing new
override states.
- Refactor: Re-factored spindle_control.c to accommodate the spindle
speed overrides and laser mode.
- Refactor: Re-factored parts of the codebase for a new jogging mode.
Still under development though and slated to be part of the official
v1.0 release. Hang tight.
- Refactor: Created functions for computing a unit vector and value
limiting based on axis maximums to free up more flash.
- Refactor: The spindle PWM is now set directly inside of the stepper
ISR as it loads new step segments.
- Refactor: Moved machine travel checks out of soft limits function
into its own since jogging uses this too.
- Refactor: Removed coolant_stop() and combined with
coolant_set_state().
- Refactor: The serial RX ISR forks off extended ASCII values to
quickly assess the new override realtime commands.
- Refactor: Altered some names of the step control flags.
- Refactor: Improved efficiency of the serial RX get buffer count
function.
- Refactor: Saved significant flash by removing and combining print
functions. Namely the uint8 base10 and base2 functions.
- Refactor: Moved the probe state check in the main stepper ISR to
improve its efficiency.
- Refactor: Single character printPgmStrings() went converted to direct
serial_write() commands to save significant flash space.
- Documentation: Detailed Markdown documents on error codes, alarm
codes, messages, new real-time commands, new status reports, and how
jogging works. More to come later and will be posted on the Wiki as
well.
- Documentation: CSV files for quick importing of Grbl error and alarm
codes.
- Bug Fix: Applied v0.9 master fixes to CoreXY homing.
- Bug Fix: The print float function would cause Grbl to crash if a
value was 1e6 or greater. Increased the buffer by 3 bytes to help
prevent this in the future.
- Bug Fix: Build info and startup string EEPROM restoring was not
writing the checksum value.
- Bug Fix: Corrected an issue with safety door restoring the proper
spindle and coolant state. It worked before, but breaks with laser mode
that can continually change spindle state per planner block.
- Bug Fix: Move system position and probe position arrays out of the
system_t struct. Ran into some compiling errors that were hard to track
down as to why. Moving them out fixed it.
2016-09-22 03:08:24 +02:00
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/* The cpu_map.h files serve as a central pin mapping selection file for different
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2016-03-30 19:58:47 +02:00
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processor types or alternative pin layouts. This version of Grbl officially supports
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only the Arduino Mega328p. */
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2013-10-30 02:10:39 +01:00
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2013-12-31 02:44:46 +01:00
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#ifndef cpu_map_h
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#define cpu_map_h
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2014-09-05 23:38:17 +02:00
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2015-01-15 06:14:52 +01:00
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#ifdef CPU_MAP_ATMEGA328P // (Arduino Uno) Officially supported by Grbl.
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2014-09-05 23:38:17 +02:00
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2016-03-30 19:58:47 +02:00
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// Define serial port pins and interrupt vectors.
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#define SERIAL_RX USART_RX_vect
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#define SERIAL_UDRE USART_UDRE_vect
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// Define step pulse output pins. NOTE: All step bit pins must be on the same port.
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#define STEP_DDR DDRD
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#define STEP_PORT PORTD
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#define X_STEP_BIT 2 // Uno Digital Pin 2
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#define Y_STEP_BIT 3 // Uno Digital Pin 3
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#define Z_STEP_BIT 4 // Uno Digital Pin 4
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#define STEP_MASK ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)) // All step bits
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// Define step direction output pins. NOTE: All direction pins must be on the same port.
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#define DIRECTION_DDR DDRD
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#define DIRECTION_PORT PORTD
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#define X_DIRECTION_BIT 5 // Uno Digital Pin 5
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#define Y_DIRECTION_BIT 6 // Uno Digital Pin 6
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#define Z_DIRECTION_BIT 7 // Uno Digital Pin 7
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#define DIRECTION_MASK ((1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT)) // All direction bits
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// Define stepper driver enable/disable output pin.
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#define STEPPERS_DISABLE_DDR DDRB
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#define STEPPERS_DISABLE_PORT PORTB
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#define STEPPERS_DISABLE_BIT 0 // Uno Digital Pin 8
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#define STEPPERS_DISABLE_MASK (1<<STEPPERS_DISABLE_BIT)
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Grbl v1.0e huge beta release. Overrides and new reporting.
- Feature: Realtime feed, rapid, and spindle speed overrides. These
alter the running machine state within tens of milliseconds!
- Feed override: 100%, +/-10%, +/-1% commands with values 1-200% of
programmed feed
- Rapid override: 100%, 50%, 25% rapid rate commands
- Spindle speed override: 100%, +/-10%, +/-1% commands with values
50-200% of programmed speed
- Override values have configurable limits and increments in
config.h.
- Feature: Realtime toggle overrides for spindle stop, flood coolant,
and optionally mist coolant
- Spindle stop: Enables and disables spindle during a feed hold.
Automatically restores last spindles state.
- Flood and mist coolant: Immediately toggles coolant state until
next toggle or g-code coolant command.
- Feature: Jogging mode! Incremental and absolute modes supported.
- Grbl accepts jogging-specific commands like $J=X100F50. An axis
word and feed rate are required. G20/21 and G90/G91 commands are
accepted.
- Jog motions can be canceled at any time by a feed hold `!`
command. The buffer is automatically flushed. (No resetting required).
- Jog motions do not alter the g-code parser state so GUIs don’t
have to track what they changed and correct it.
- Feature: Laser mode setting. Allows Grbl to execute continuous
motions with spindle speed and state changes.
- Feature: Significantly improved status reports. Overhauled to cram in
more meaningful data and still make it smaller on average.
- All available data is now sent by default, but does not appear if
it doesn’t change or is not active.
- Machine position(MPos) or work position(WPos) is reported but not
both at the same time. Instead, the work coordinate offsets (WCO)are
sent intermittently whenever it changes or refreshes after 10-30 status
reports. Position vectors are easily computed by WPos = MPos - WCO.
- All data has changed in some way. Details of changes are in the
markdown documents and wiki.
- Feature: 16 new realtime commands to control overrides. All in
extended-ASCII character space.
- While they are not easily typeable and requires a GUI, they can’t
be accidentally triggered by some latent character in the g-code
program and have tons of room for expansion.
- Feature: New substates for HOLD and SAFETY DOOR. A `:x` is appended
to the state, where `x` is an integer and indicates a substate.
- For example, each integer of a door state describes in what phase
the machine is in during parking. Substates are detailed in the
documentation.
- Feature: With the alarm codes, homing and probe alarms have been
expanded with more codes to provide more exact feedback on what caused
the alarm.
- Feature: New hard limit check upon power-up or reset. If detected, a
feedback message to check the limit switches sent immediately after the
welcome message.
- May be disabled in config.h.
- OEM feature: Enable/disable `$RST=` individual commands based on
desired behavior in config.h.
- OEM feature: Configurable EEPROM wipe to prevent certain data from
being deleted during firmware upgrade to a new settings version or
`RST=*` command.
- OEM feature: Enable/disable the `$I=` build info write string with
external EEPROM write example sketch.
- This prevents a user from altering the build info string in
EEPROM. This requires the vendor to write the string to EEPROM via
external means. An Arduino example sketch is provided to accomplish
this. This would be useful for contain product data that is
retrievable.
- Tweak: All feedback has been drastically trimmed to free up flash
space for the v1.0 release.
- The `$` help message is just one string, listing available
commands.
- The `$$` settings printout no longer includes descriptions. Only
the setting values. (Sorry it’s this or remove overrides!)
- Grbl `error:` and `ALARM:` responses now only contain codes. No
descriptions. All codes are explained in documentation.
- Grbl’s old feedback style may be restored via a config.h, but
keep in mind that it will likely not fit into the Arduino’s flash space.
- Tweak: Grbl now forces a buffer sync or stop motion whenever a g-code
command needs to update and write a value to EEPROM or changes the work
coordinate offset.
- This addresses two old issues in all prior Grbl versions. First,
an EEPROM write requires interrupts to be disabled, including stepper
and serial comm. Steps can be lost and data can be corrupted. Second,
the work position may not be correlated to the actual machine position,
since machine position is derived from the actual current execution
state, while work position is based on the g-code parser offset state.
They are usually not in sync and the parser state is several motions
behind. This forced sync ensures work and machine positions are always
correct.
- This behavior can be disabled through a config.h option, but it’s
not recommended to do so.
- Tweak: To make status reports standardized, users can no longer
change what is reported via status report mask, except for only
toggling machine or work positions.
- All other data fields are included in the report and can only be
disabled through the config.h file. It’s not recommended to alter this,
because GUIs will be expecting this data to be present and may not be
compatible.
- Tweak: Homing cycle and parking motion no longer report a negative
line number in a status report. These will now not report a line number
at all.
- Tweak: New `[Restoring spindle]` message when restoring from a
spindle stop override. Provides feedback what Grbl is doing while the
spindle is powering up and a 4.0 second delay is enforced.
- Tweak: Override values are reset to 100% upon M2/30. This behavior
can be disabled in config.h
- Tweak: The planner buffer size has been reduced from 18 to 16 to free
up RAM for tracking and controlling overrides.
- Tweak: TX buffer size has been increased from 64 to 90 bytes to
improve status reporting and overall performance.
- Tweak: Removed the MOTION CANCEL state. It was redundant and didn’t
affect Grbl’s overall operation by doing so.
- Tweak: Grbl’s serial buffer increased by +1 internally, such that 128
bytes means 128, not 127 due to the ring buffer implementation. Long
overdue.
- Tweak: Altered sys.alarm variable to be set by alarm codes, rather
than bit flags. Simplified how it worked overall.
- Tweak: Planner buffer and serial RX buffer usage has been combined in
the status reports.
- Tweak: Pin state reporting has been refactored to report only the
pins “triggered” and nothing when not “triggered”.
- Tweak: Current machine rate or speed is now included in every report.
- Tweak: The work coordinate offset (WCO) and override states only need
to be refreshed intermittently or reported when they change. The
refresh rates may be altered for each in the config.h file with
different idle and busy rates to lessen Grbl’s load during a job.
- Tweak: For temporary compatibility to existing GUIs until they are
updated, an option to revert back to the old style status reports is
available in config.h, but not recommended for long term use.
- Tweak: Removed old limit pin state reporting option from config.h in
lieu of new status report that includes them.
- Tweak: Updated the defaults.h file to include laser mode, altered
status report mask, and fix an issue with a missing invert probe pin
default.
- Refactor: Changed how planner line data is generated and passed to
the planner and onto the step generator. By making it a struct
variable, this saved significant flash space.
- Refactor: Major re-factoring of the planner to incorporate override
values and allow for re-calculations fast enough to immediately take
effect during operation. No small feat.
- Refactor: Re-factored the step segment generator for re-computing new
override states.
- Refactor: Re-factored spindle_control.c to accommodate the spindle
speed overrides and laser mode.
- Refactor: Re-factored parts of the codebase for a new jogging mode.
Still under development though and slated to be part of the official
v1.0 release. Hang tight.
- Refactor: Created functions for computing a unit vector and value
limiting based on axis maximums to free up more flash.
- Refactor: The spindle PWM is now set directly inside of the stepper
ISR as it loads new step segments.
- Refactor: Moved machine travel checks out of soft limits function
into its own since jogging uses this too.
- Refactor: Removed coolant_stop() and combined with
coolant_set_state().
- Refactor: The serial RX ISR forks off extended ASCII values to
quickly assess the new override realtime commands.
- Refactor: Altered some names of the step control flags.
- Refactor: Improved efficiency of the serial RX get buffer count
function.
- Refactor: Saved significant flash by removing and combining print
functions. Namely the uint8 base10 and base2 functions.
- Refactor: Moved the probe state check in the main stepper ISR to
improve its efficiency.
- Refactor: Single character printPgmStrings() went converted to direct
serial_write() commands to save significant flash space.
- Documentation: Detailed Markdown documents on error codes, alarm
codes, messages, new real-time commands, new status reports, and how
jogging works. More to come later and will be posted on the Wiki as
well.
- Documentation: CSV files for quick importing of Grbl error and alarm
codes.
- Bug Fix: Applied v0.9 master fixes to CoreXY homing.
- Bug Fix: The print float function would cause Grbl to crash if a
value was 1e6 or greater. Increased the buffer by 3 bytes to help
prevent this in the future.
- Bug Fix: Build info and startup string EEPROM restoring was not
writing the checksum value.
- Bug Fix: Corrected an issue with safety door restoring the proper
spindle and coolant state. It worked before, but breaks with laser mode
that can continually change spindle state per planner block.
- Bug Fix: Move system position and probe position arrays out of the
system_t struct. Ran into some compiling errors that were hard to track
down as to why. Moving them out fixed it.
2016-09-22 03:08:24 +02:00
|
|
|
// Define homing/hard limit switch input pins and limit interrupt vectors.
|
2016-03-30 19:58:47 +02:00
|
|
|
// NOTE: All limit bit pins must be on the same port, but not on a port with other input pins (CONTROL).
|
|
|
|
|
#define LIMIT_DDR DDRB
|
|
|
|
|
#define LIMIT_PIN PINB
|
|
|
|
|
#define LIMIT_PORT PORTB
|
|
|
|
|
#define X_LIMIT_BIT 1 // Uno Digital Pin 9
|
|
|
|
|
#define Y_LIMIT_BIT 2 // Uno Digital Pin 10
|
Grbl v1.0e huge beta release. Overrides and new reporting.
- Feature: Realtime feed, rapid, and spindle speed overrides. These
alter the running machine state within tens of milliseconds!
- Feed override: 100%, +/-10%, +/-1% commands with values 1-200% of
programmed feed
- Rapid override: 100%, 50%, 25% rapid rate commands
- Spindle speed override: 100%, +/-10%, +/-1% commands with values
50-200% of programmed speed
- Override values have configurable limits and increments in
config.h.
- Feature: Realtime toggle overrides for spindle stop, flood coolant,
and optionally mist coolant
- Spindle stop: Enables and disables spindle during a feed hold.
Automatically restores last spindles state.
- Flood and mist coolant: Immediately toggles coolant state until
next toggle or g-code coolant command.
- Feature: Jogging mode! Incremental and absolute modes supported.
- Grbl accepts jogging-specific commands like $J=X100F50. An axis
word and feed rate are required. G20/21 and G90/G91 commands are
accepted.
- Jog motions can be canceled at any time by a feed hold `!`
command. The buffer is automatically flushed. (No resetting required).
- Jog motions do not alter the g-code parser state so GUIs don’t
have to track what they changed and correct it.
- Feature: Laser mode setting. Allows Grbl to execute continuous
motions with spindle speed and state changes.
- Feature: Significantly improved status reports. Overhauled to cram in
more meaningful data and still make it smaller on average.
- All available data is now sent by default, but does not appear if
it doesn’t change or is not active.
- Machine position(MPos) or work position(WPos) is reported but not
both at the same time. Instead, the work coordinate offsets (WCO)are
sent intermittently whenever it changes or refreshes after 10-30 status
reports. Position vectors are easily computed by WPos = MPos - WCO.
- All data has changed in some way. Details of changes are in the
markdown documents and wiki.
- Feature: 16 new realtime commands to control overrides. All in
extended-ASCII character space.
- While they are not easily typeable and requires a GUI, they can’t
be accidentally triggered by some latent character in the g-code
program and have tons of room for expansion.
- Feature: New substates for HOLD and SAFETY DOOR. A `:x` is appended
to the state, where `x` is an integer and indicates a substate.
- For example, each integer of a door state describes in what phase
the machine is in during parking. Substates are detailed in the
documentation.
- Feature: With the alarm codes, homing and probe alarms have been
expanded with more codes to provide more exact feedback on what caused
the alarm.
- Feature: New hard limit check upon power-up or reset. If detected, a
feedback message to check the limit switches sent immediately after the
welcome message.
- May be disabled in config.h.
- OEM feature: Enable/disable `$RST=` individual commands based on
desired behavior in config.h.
- OEM feature: Configurable EEPROM wipe to prevent certain data from
being deleted during firmware upgrade to a new settings version or
`RST=*` command.
- OEM feature: Enable/disable the `$I=` build info write string with
external EEPROM write example sketch.
- This prevents a user from altering the build info string in
EEPROM. This requires the vendor to write the string to EEPROM via
external means. An Arduino example sketch is provided to accomplish
this. This would be useful for contain product data that is
retrievable.
- Tweak: All feedback has been drastically trimmed to free up flash
space for the v1.0 release.
- The `$` help message is just one string, listing available
commands.
- The `$$` settings printout no longer includes descriptions. Only
the setting values. (Sorry it’s this or remove overrides!)
- Grbl `error:` and `ALARM:` responses now only contain codes. No
descriptions. All codes are explained in documentation.
- Grbl’s old feedback style may be restored via a config.h, but
keep in mind that it will likely not fit into the Arduino’s flash space.
- Tweak: Grbl now forces a buffer sync or stop motion whenever a g-code
command needs to update and write a value to EEPROM or changes the work
coordinate offset.
- This addresses two old issues in all prior Grbl versions. First,
an EEPROM write requires interrupts to be disabled, including stepper
and serial comm. Steps can be lost and data can be corrupted. Second,
the work position may not be correlated to the actual machine position,
since machine position is derived from the actual current execution
state, while work position is based on the g-code parser offset state.
They are usually not in sync and the parser state is several motions
behind. This forced sync ensures work and machine positions are always
correct.
- This behavior can be disabled through a config.h option, but it’s
not recommended to do so.
- Tweak: To make status reports standardized, users can no longer
change what is reported via status report mask, except for only
toggling machine or work positions.
- All other data fields are included in the report and can only be
disabled through the config.h file. It’s not recommended to alter this,
because GUIs will be expecting this data to be present and may not be
compatible.
- Tweak: Homing cycle and parking motion no longer report a negative
line number in a status report. These will now not report a line number
at all.
- Tweak: New `[Restoring spindle]` message when restoring from a
spindle stop override. Provides feedback what Grbl is doing while the
spindle is powering up and a 4.0 second delay is enforced.
- Tweak: Override values are reset to 100% upon M2/30. This behavior
can be disabled in config.h
- Tweak: The planner buffer size has been reduced from 18 to 16 to free
up RAM for tracking and controlling overrides.
- Tweak: TX buffer size has been increased from 64 to 90 bytes to
improve status reporting and overall performance.
- Tweak: Removed the MOTION CANCEL state. It was redundant and didn’t
affect Grbl’s overall operation by doing so.
- Tweak: Grbl’s serial buffer increased by +1 internally, such that 128
bytes means 128, not 127 due to the ring buffer implementation. Long
overdue.
- Tweak: Altered sys.alarm variable to be set by alarm codes, rather
than bit flags. Simplified how it worked overall.
- Tweak: Planner buffer and serial RX buffer usage has been combined in
the status reports.
- Tweak: Pin state reporting has been refactored to report only the
pins “triggered” and nothing when not “triggered”.
- Tweak: Current machine rate or speed is now included in every report.
- Tweak: The work coordinate offset (WCO) and override states only need
to be refreshed intermittently or reported when they change. The
refresh rates may be altered for each in the config.h file with
different idle and busy rates to lessen Grbl’s load during a job.
- Tweak: For temporary compatibility to existing GUIs until they are
updated, an option to revert back to the old style status reports is
available in config.h, but not recommended for long term use.
- Tweak: Removed old limit pin state reporting option from config.h in
lieu of new status report that includes them.
- Tweak: Updated the defaults.h file to include laser mode, altered
status report mask, and fix an issue with a missing invert probe pin
default.
- Refactor: Changed how planner line data is generated and passed to
the planner and onto the step generator. By making it a struct
variable, this saved significant flash space.
- Refactor: Major re-factoring of the planner to incorporate override
values and allow for re-calculations fast enough to immediately take
effect during operation. No small feat.
- Refactor: Re-factored the step segment generator for re-computing new
override states.
- Refactor: Re-factored spindle_control.c to accommodate the spindle
speed overrides and laser mode.
- Refactor: Re-factored parts of the codebase for a new jogging mode.
Still under development though and slated to be part of the official
v1.0 release. Hang tight.
- Refactor: Created functions for computing a unit vector and value
limiting based on axis maximums to free up more flash.
- Refactor: The spindle PWM is now set directly inside of the stepper
ISR as it loads new step segments.
- Refactor: Moved machine travel checks out of soft limits function
into its own since jogging uses this too.
- Refactor: Removed coolant_stop() and combined with
coolant_set_state().
- Refactor: The serial RX ISR forks off extended ASCII values to
quickly assess the new override realtime commands.
- Refactor: Altered some names of the step control flags.
- Refactor: Improved efficiency of the serial RX get buffer count
function.
- Refactor: Saved significant flash by removing and combining print
functions. Namely the uint8 base10 and base2 functions.
- Refactor: Moved the probe state check in the main stepper ISR to
improve its efficiency.
- Refactor: Single character printPgmStrings() went converted to direct
serial_write() commands to save significant flash space.
- Documentation: Detailed Markdown documents on error codes, alarm
codes, messages, new real-time commands, new status reports, and how
jogging works. More to come later and will be posted on the Wiki as
well.
- Documentation: CSV files for quick importing of Grbl error and alarm
codes.
- Bug Fix: Applied v0.9 master fixes to CoreXY homing.
- Bug Fix: The print float function would cause Grbl to crash if a
value was 1e6 or greater. Increased the buffer by 3 bytes to help
prevent this in the future.
- Bug Fix: Build info and startup string EEPROM restoring was not
writing the checksum value.
- Bug Fix: Corrected an issue with safety door restoring the proper
spindle and coolant state. It worked before, but breaks with laser mode
that can continually change spindle state per planner block.
- Bug Fix: Move system position and probe position arrays out of the
system_t struct. Ran into some compiling errors that were hard to track
down as to why. Moving them out fixed it.
2016-09-22 03:08:24 +02:00
|
|
|
#ifdef VARIABLE_SPINDLE // Z Limit pin and spindle enabled swapped to access hardware PWM on Pin 11.
|
2016-03-30 19:58:47 +02:00
|
|
|
#define Z_LIMIT_BIT 4 // Uno Digital Pin 12
|
|
|
|
|
#else
|
|
|
|
|
#define Z_LIMIT_BIT 3 // Uno Digital Pin 11
|
|
|
|
|
#endif
|
|
|
|
|
#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)) // All limit bits
|
|
|
|
|
#define LIMIT_INT PCIE0 // Pin change interrupt enable pin
|
Grbl v1.0e huge beta release. Overrides and new reporting.
- Feature: Realtime feed, rapid, and spindle speed overrides. These
alter the running machine state within tens of milliseconds!
- Feed override: 100%, +/-10%, +/-1% commands with values 1-200% of
programmed feed
- Rapid override: 100%, 50%, 25% rapid rate commands
- Spindle speed override: 100%, +/-10%, +/-1% commands with values
50-200% of programmed speed
- Override values have configurable limits and increments in
config.h.
- Feature: Realtime toggle overrides for spindle stop, flood coolant,
and optionally mist coolant
- Spindle stop: Enables and disables spindle during a feed hold.
Automatically restores last spindles state.
- Flood and mist coolant: Immediately toggles coolant state until
next toggle or g-code coolant command.
- Feature: Jogging mode! Incremental and absolute modes supported.
- Grbl accepts jogging-specific commands like $J=X100F50. An axis
word and feed rate are required. G20/21 and G90/G91 commands are
accepted.
- Jog motions can be canceled at any time by a feed hold `!`
command. The buffer is automatically flushed. (No resetting required).
- Jog motions do not alter the g-code parser state so GUIs don’t
have to track what they changed and correct it.
- Feature: Laser mode setting. Allows Grbl to execute continuous
motions with spindle speed and state changes.
- Feature: Significantly improved status reports. Overhauled to cram in
more meaningful data and still make it smaller on average.
- All available data is now sent by default, but does not appear if
it doesn’t change or is not active.
- Machine position(MPos) or work position(WPos) is reported but not
both at the same time. Instead, the work coordinate offsets (WCO)are
sent intermittently whenever it changes or refreshes after 10-30 status
reports. Position vectors are easily computed by WPos = MPos - WCO.
- All data has changed in some way. Details of changes are in the
markdown documents and wiki.
- Feature: 16 new realtime commands to control overrides. All in
extended-ASCII character space.
- While they are not easily typeable and requires a GUI, they can’t
be accidentally triggered by some latent character in the g-code
program and have tons of room for expansion.
- Feature: New substates for HOLD and SAFETY DOOR. A `:x` is appended
to the state, where `x` is an integer and indicates a substate.
- For example, each integer of a door state describes in what phase
the machine is in during parking. Substates are detailed in the
documentation.
- Feature: With the alarm codes, homing and probe alarms have been
expanded with more codes to provide more exact feedback on what caused
the alarm.
- Feature: New hard limit check upon power-up or reset. If detected, a
feedback message to check the limit switches sent immediately after the
welcome message.
- May be disabled in config.h.
- OEM feature: Enable/disable `$RST=` individual commands based on
desired behavior in config.h.
- OEM feature: Configurable EEPROM wipe to prevent certain data from
being deleted during firmware upgrade to a new settings version or
`RST=*` command.
- OEM feature: Enable/disable the `$I=` build info write string with
external EEPROM write example sketch.
- This prevents a user from altering the build info string in
EEPROM. This requires the vendor to write the string to EEPROM via
external means. An Arduino example sketch is provided to accomplish
this. This would be useful for contain product data that is
retrievable.
- Tweak: All feedback has been drastically trimmed to free up flash
space for the v1.0 release.
- The `$` help message is just one string, listing available
commands.
- The `$$` settings printout no longer includes descriptions. Only
the setting values. (Sorry it’s this or remove overrides!)
- Grbl `error:` and `ALARM:` responses now only contain codes. No
descriptions. All codes are explained in documentation.
- Grbl’s old feedback style may be restored via a config.h, but
keep in mind that it will likely not fit into the Arduino’s flash space.
- Tweak: Grbl now forces a buffer sync or stop motion whenever a g-code
command needs to update and write a value to EEPROM or changes the work
coordinate offset.
- This addresses two old issues in all prior Grbl versions. First,
an EEPROM write requires interrupts to be disabled, including stepper
and serial comm. Steps can be lost and data can be corrupted. Second,
the work position may not be correlated to the actual machine position,
since machine position is derived from the actual current execution
state, while work position is based on the g-code parser offset state.
They are usually not in sync and the parser state is several motions
behind. This forced sync ensures work and machine positions are always
correct.
- This behavior can be disabled through a config.h option, but it’s
not recommended to do so.
- Tweak: To make status reports standardized, users can no longer
change what is reported via status report mask, except for only
toggling machine or work positions.
- All other data fields are included in the report and can only be
disabled through the config.h file. It’s not recommended to alter this,
because GUIs will be expecting this data to be present and may not be
compatible.
- Tweak: Homing cycle and parking motion no longer report a negative
line number in a status report. These will now not report a line number
at all.
- Tweak: New `[Restoring spindle]` message when restoring from a
spindle stop override. Provides feedback what Grbl is doing while the
spindle is powering up and a 4.0 second delay is enforced.
- Tweak: Override values are reset to 100% upon M2/30. This behavior
can be disabled in config.h
- Tweak: The planner buffer size has been reduced from 18 to 16 to free
up RAM for tracking and controlling overrides.
- Tweak: TX buffer size has been increased from 64 to 90 bytes to
improve status reporting and overall performance.
- Tweak: Removed the MOTION CANCEL state. It was redundant and didn’t
affect Grbl’s overall operation by doing so.
- Tweak: Grbl’s serial buffer increased by +1 internally, such that 128
bytes means 128, not 127 due to the ring buffer implementation. Long
overdue.
- Tweak: Altered sys.alarm variable to be set by alarm codes, rather
than bit flags. Simplified how it worked overall.
- Tweak: Planner buffer and serial RX buffer usage has been combined in
the status reports.
- Tweak: Pin state reporting has been refactored to report only the
pins “triggered” and nothing when not “triggered”.
- Tweak: Current machine rate or speed is now included in every report.
- Tweak: The work coordinate offset (WCO) and override states only need
to be refreshed intermittently or reported when they change. The
refresh rates may be altered for each in the config.h file with
different idle and busy rates to lessen Grbl’s load during a job.
- Tweak: For temporary compatibility to existing GUIs until they are
updated, an option to revert back to the old style status reports is
available in config.h, but not recommended for long term use.
- Tweak: Removed old limit pin state reporting option from config.h in
lieu of new status report that includes them.
- Tweak: Updated the defaults.h file to include laser mode, altered
status report mask, and fix an issue with a missing invert probe pin
default.
- Refactor: Changed how planner line data is generated and passed to
the planner and onto the step generator. By making it a struct
variable, this saved significant flash space.
- Refactor: Major re-factoring of the planner to incorporate override
values and allow for re-calculations fast enough to immediately take
effect during operation. No small feat.
- Refactor: Re-factored the step segment generator for re-computing new
override states.
- Refactor: Re-factored spindle_control.c to accommodate the spindle
speed overrides and laser mode.
- Refactor: Re-factored parts of the codebase for a new jogging mode.
Still under development though and slated to be part of the official
v1.0 release. Hang tight.
- Refactor: Created functions for computing a unit vector and value
limiting based on axis maximums to free up more flash.
- Refactor: The spindle PWM is now set directly inside of the stepper
ISR as it loads new step segments.
- Refactor: Moved machine travel checks out of soft limits function
into its own since jogging uses this too.
- Refactor: Removed coolant_stop() and combined with
coolant_set_state().
- Refactor: The serial RX ISR forks off extended ASCII values to
quickly assess the new override realtime commands.
- Refactor: Altered some names of the step control flags.
- Refactor: Improved efficiency of the serial RX get buffer count
function.
- Refactor: Saved significant flash by removing and combining print
functions. Namely the uint8 base10 and base2 functions.
- Refactor: Moved the probe state check in the main stepper ISR to
improve its efficiency.
- Refactor: Single character printPgmStrings() went converted to direct
serial_write() commands to save significant flash space.
- Documentation: Detailed Markdown documents on error codes, alarm
codes, messages, new real-time commands, new status reports, and how
jogging works. More to come later and will be posted on the Wiki as
well.
- Documentation: CSV files for quick importing of Grbl error and alarm
codes.
- Bug Fix: Applied v0.9 master fixes to CoreXY homing.
- Bug Fix: The print float function would cause Grbl to crash if a
value was 1e6 or greater. Increased the buffer by 3 bytes to help
prevent this in the future.
- Bug Fix: Build info and startup string EEPROM restoring was not
writing the checksum value.
- Bug Fix: Corrected an issue with safety door restoring the proper
spindle and coolant state. It worked before, but breaks with laser mode
that can continually change spindle state per planner block.
- Bug Fix: Move system position and probe position arrays out of the
system_t struct. Ran into some compiling errors that were hard to track
down as to why. Moving them out fixed it.
2016-09-22 03:08:24 +02:00
|
|
|
#define LIMIT_INT_vect PCINT0_vect
|
2016-03-30 19:58:47 +02:00
|
|
|
#define LIMIT_PCMSK PCMSK0 // Pin change interrupt register
|
|
|
|
|
|
|
|
|
|
// Define spindle enable and spindle direction output pins.
|
|
|
|
|
#define SPINDLE_ENABLE_DDR DDRB
|
|
|
|
|
#define SPINDLE_ENABLE_PORT PORTB
|
|
|
|
|
// Z Limit pin and spindle PWM/enable pin swapped to access hardware PWM on Pin 11.
|
Grbl v1.0e huge beta release. Overrides and new reporting.
- Feature: Realtime feed, rapid, and spindle speed overrides. These
alter the running machine state within tens of milliseconds!
- Feed override: 100%, +/-10%, +/-1% commands with values 1-200% of
programmed feed
- Rapid override: 100%, 50%, 25% rapid rate commands
- Spindle speed override: 100%, +/-10%, +/-1% commands with values
50-200% of programmed speed
- Override values have configurable limits and increments in
config.h.
- Feature: Realtime toggle overrides for spindle stop, flood coolant,
and optionally mist coolant
- Spindle stop: Enables and disables spindle during a feed hold.
Automatically restores last spindles state.
- Flood and mist coolant: Immediately toggles coolant state until
next toggle or g-code coolant command.
- Feature: Jogging mode! Incremental and absolute modes supported.
- Grbl accepts jogging-specific commands like $J=X100F50. An axis
word and feed rate are required. G20/21 and G90/G91 commands are
accepted.
- Jog motions can be canceled at any time by a feed hold `!`
command. The buffer is automatically flushed. (No resetting required).
- Jog motions do not alter the g-code parser state so GUIs don’t
have to track what they changed and correct it.
- Feature: Laser mode setting. Allows Grbl to execute continuous
motions with spindle speed and state changes.
- Feature: Significantly improved status reports. Overhauled to cram in
more meaningful data and still make it smaller on average.
- All available data is now sent by default, but does not appear if
it doesn’t change or is not active.
- Machine position(MPos) or work position(WPos) is reported but not
both at the same time. Instead, the work coordinate offsets (WCO)are
sent intermittently whenever it changes or refreshes after 10-30 status
reports. Position vectors are easily computed by WPos = MPos - WCO.
- All data has changed in some way. Details of changes are in the
markdown documents and wiki.
- Feature: 16 new realtime commands to control overrides. All in
extended-ASCII character space.
- While they are not easily typeable and requires a GUI, they can’t
be accidentally triggered by some latent character in the g-code
program and have tons of room for expansion.
- Feature: New substates for HOLD and SAFETY DOOR. A `:x` is appended
to the state, where `x` is an integer and indicates a substate.
- For example, each integer of a door state describes in what phase
the machine is in during parking. Substates are detailed in the
documentation.
- Feature: With the alarm codes, homing and probe alarms have been
expanded with more codes to provide more exact feedback on what caused
the alarm.
- Feature: New hard limit check upon power-up or reset. If detected, a
feedback message to check the limit switches sent immediately after the
welcome message.
- May be disabled in config.h.
- OEM feature: Enable/disable `$RST=` individual commands based on
desired behavior in config.h.
- OEM feature: Configurable EEPROM wipe to prevent certain data from
being deleted during firmware upgrade to a new settings version or
`RST=*` command.
- OEM feature: Enable/disable the `$I=` build info write string with
external EEPROM write example sketch.
- This prevents a user from altering the build info string in
EEPROM. This requires the vendor to write the string to EEPROM via
external means. An Arduino example sketch is provided to accomplish
this. This would be useful for contain product data that is
retrievable.
- Tweak: All feedback has been drastically trimmed to free up flash
space for the v1.0 release.
- The `$` help message is just one string, listing available
commands.
- The `$$` settings printout no longer includes descriptions. Only
the setting values. (Sorry it’s this or remove overrides!)
- Grbl `error:` and `ALARM:` responses now only contain codes. No
descriptions. All codes are explained in documentation.
- Grbl’s old feedback style may be restored via a config.h, but
keep in mind that it will likely not fit into the Arduino’s flash space.
- Tweak: Grbl now forces a buffer sync or stop motion whenever a g-code
command needs to update and write a value to EEPROM or changes the work
coordinate offset.
- This addresses two old issues in all prior Grbl versions. First,
an EEPROM write requires interrupts to be disabled, including stepper
and serial comm. Steps can be lost and data can be corrupted. Second,
the work position may not be correlated to the actual machine position,
since machine position is derived from the actual current execution
state, while work position is based on the g-code parser offset state.
They are usually not in sync and the parser state is several motions
behind. This forced sync ensures work and machine positions are always
correct.
- This behavior can be disabled through a config.h option, but it’s
not recommended to do so.
- Tweak: To make status reports standardized, users can no longer
change what is reported via status report mask, except for only
toggling machine or work positions.
- All other data fields are included in the report and can only be
disabled through the config.h file. It’s not recommended to alter this,
because GUIs will be expecting this data to be present and may not be
compatible.
- Tweak: Homing cycle and parking motion no longer report a negative
line number in a status report. These will now not report a line number
at all.
- Tweak: New `[Restoring spindle]` message when restoring from a
spindle stop override. Provides feedback what Grbl is doing while the
spindle is powering up and a 4.0 second delay is enforced.
- Tweak: Override values are reset to 100% upon M2/30. This behavior
can be disabled in config.h
- Tweak: The planner buffer size has been reduced from 18 to 16 to free
up RAM for tracking and controlling overrides.
- Tweak: TX buffer size has been increased from 64 to 90 bytes to
improve status reporting and overall performance.
- Tweak: Removed the MOTION CANCEL state. It was redundant and didn’t
affect Grbl’s overall operation by doing so.
- Tweak: Grbl’s serial buffer increased by +1 internally, such that 128
bytes means 128, not 127 due to the ring buffer implementation. Long
overdue.
- Tweak: Altered sys.alarm variable to be set by alarm codes, rather
than bit flags. Simplified how it worked overall.
- Tweak: Planner buffer and serial RX buffer usage has been combined in
the status reports.
- Tweak: Pin state reporting has been refactored to report only the
pins “triggered” and nothing when not “triggered”.
- Tweak: Current machine rate or speed is now included in every report.
- Tweak: The work coordinate offset (WCO) and override states only need
to be refreshed intermittently or reported when they change. The
refresh rates may be altered for each in the config.h file with
different idle and busy rates to lessen Grbl’s load during a job.
- Tweak: For temporary compatibility to existing GUIs until they are
updated, an option to revert back to the old style status reports is
available in config.h, but not recommended for long term use.
- Tweak: Removed old limit pin state reporting option from config.h in
lieu of new status report that includes them.
- Tweak: Updated the defaults.h file to include laser mode, altered
status report mask, and fix an issue with a missing invert probe pin
default.
- Refactor: Changed how planner line data is generated and passed to
the planner and onto the step generator. By making it a struct
variable, this saved significant flash space.
- Refactor: Major re-factoring of the planner to incorporate override
values and allow for re-calculations fast enough to immediately take
effect during operation. No small feat.
- Refactor: Re-factored the step segment generator for re-computing new
override states.
- Refactor: Re-factored spindle_control.c to accommodate the spindle
speed overrides and laser mode.
- Refactor: Re-factored parts of the codebase for a new jogging mode.
Still under development though and slated to be part of the official
v1.0 release. Hang tight.
- Refactor: Created functions for computing a unit vector and value
limiting based on axis maximums to free up more flash.
- Refactor: The spindle PWM is now set directly inside of the stepper
ISR as it loads new step segments.
- Refactor: Moved machine travel checks out of soft limits function
into its own since jogging uses this too.
- Refactor: Removed coolant_stop() and combined with
coolant_set_state().
- Refactor: The serial RX ISR forks off extended ASCII values to
quickly assess the new override realtime commands.
- Refactor: Altered some names of the step control flags.
- Refactor: Improved efficiency of the serial RX get buffer count
function.
- Refactor: Saved significant flash by removing and combining print
functions. Namely the uint8 base10 and base2 functions.
- Refactor: Moved the probe state check in the main stepper ISR to
improve its efficiency.
- Refactor: Single character printPgmStrings() went converted to direct
serial_write() commands to save significant flash space.
- Documentation: Detailed Markdown documents on error codes, alarm
codes, messages, new real-time commands, new status reports, and how
jogging works. More to come later and will be posted on the Wiki as
well.
- Documentation: CSV files for quick importing of Grbl error and alarm
codes.
- Bug Fix: Applied v0.9 master fixes to CoreXY homing.
- Bug Fix: The print float function would cause Grbl to crash if a
value was 1e6 or greater. Increased the buffer by 3 bytes to help
prevent this in the future.
- Bug Fix: Build info and startup string EEPROM restoring was not
writing the checksum value.
- Bug Fix: Corrected an issue with safety door restoring the proper
spindle and coolant state. It worked before, but breaks with laser mode
that can continually change spindle state per planner block.
- Bug Fix: Move system position and probe position arrays out of the
system_t struct. Ran into some compiling errors that were hard to track
down as to why. Moving them out fixed it.
2016-09-22 03:08:24 +02:00
|
|
|
#ifdef VARIABLE_SPINDLE
|
2016-03-30 19:58:47 +02:00
|
|
|
#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
|
|
|
|
|
// If enabled, spindle direction pin now used as spindle enable, while PWM remains on D11.
|
|
|
|
|
#define SPINDLE_ENABLE_BIT 5 // Uno Digital Pin 13 (NOTE: D13 can't be pulled-high input due to LED.)
|
|
|
|
|
#else
|
|
|
|
|
#define SPINDLE_ENABLE_BIT 3 // Uno Digital Pin 11
|
|
|
|
|
#endif
|
|
|
|
|
#else
|
|
|
|
|
#define SPINDLE_ENABLE_BIT 4 // Uno Digital Pin 12
|
|
|
|
|
#endif
|
|
|
|
|
#ifndef USE_SPINDLE_DIR_AS_ENABLE_PIN
|
|
|
|
|
#define SPINDLE_DIRECTION_DDR DDRB
|
|
|
|
|
#define SPINDLE_DIRECTION_PORT PORTB
|
|
|
|
|
#define SPINDLE_DIRECTION_BIT 5 // Uno Digital Pin 13 (NOTE: D13 can't be pulled-high input due to LED.)
|
|
|
|
|
#endif
|
Grbl v1.0e huge beta release. Overrides and new reporting.
- Feature: Realtime feed, rapid, and spindle speed overrides. These
alter the running machine state within tens of milliseconds!
- Feed override: 100%, +/-10%, +/-1% commands with values 1-200% of
programmed feed
- Rapid override: 100%, 50%, 25% rapid rate commands
- Spindle speed override: 100%, +/-10%, +/-1% commands with values
50-200% of programmed speed
- Override values have configurable limits and increments in
config.h.
- Feature: Realtime toggle overrides for spindle stop, flood coolant,
and optionally mist coolant
- Spindle stop: Enables and disables spindle during a feed hold.
Automatically restores last spindles state.
- Flood and mist coolant: Immediately toggles coolant state until
next toggle or g-code coolant command.
- Feature: Jogging mode! Incremental and absolute modes supported.
- Grbl accepts jogging-specific commands like $J=X100F50. An axis
word and feed rate are required. G20/21 and G90/G91 commands are
accepted.
- Jog motions can be canceled at any time by a feed hold `!`
command. The buffer is automatically flushed. (No resetting required).
- Jog motions do not alter the g-code parser state so GUIs don’t
have to track what they changed and correct it.
- Feature: Laser mode setting. Allows Grbl to execute continuous
motions with spindle speed and state changes.
- Feature: Significantly improved status reports. Overhauled to cram in
more meaningful data and still make it smaller on average.
- All available data is now sent by default, but does not appear if
it doesn’t change or is not active.
- Machine position(MPos) or work position(WPos) is reported but not
both at the same time. Instead, the work coordinate offsets (WCO)are
sent intermittently whenever it changes or refreshes after 10-30 status
reports. Position vectors are easily computed by WPos = MPos - WCO.
- All data has changed in some way. Details of changes are in the
markdown documents and wiki.
- Feature: 16 new realtime commands to control overrides. All in
extended-ASCII character space.
- While they are not easily typeable and requires a GUI, they can’t
be accidentally triggered by some latent character in the g-code
program and have tons of room for expansion.
- Feature: New substates for HOLD and SAFETY DOOR. A `:x` is appended
to the state, where `x` is an integer and indicates a substate.
- For example, each integer of a door state describes in what phase
the machine is in during parking. Substates are detailed in the
documentation.
- Feature: With the alarm codes, homing and probe alarms have been
expanded with more codes to provide more exact feedback on what caused
the alarm.
- Feature: New hard limit check upon power-up or reset. If detected, a
feedback message to check the limit switches sent immediately after the
welcome message.
- May be disabled in config.h.
- OEM feature: Enable/disable `$RST=` individual commands based on
desired behavior in config.h.
- OEM feature: Configurable EEPROM wipe to prevent certain data from
being deleted during firmware upgrade to a new settings version or
`RST=*` command.
- OEM feature: Enable/disable the `$I=` build info write string with
external EEPROM write example sketch.
- This prevents a user from altering the build info string in
EEPROM. This requires the vendor to write the string to EEPROM via
external means. An Arduino example sketch is provided to accomplish
this. This would be useful for contain product data that is
retrievable.
- Tweak: All feedback has been drastically trimmed to free up flash
space for the v1.0 release.
- The `$` help message is just one string, listing available
commands.
- The `$$` settings printout no longer includes descriptions. Only
the setting values. (Sorry it’s this or remove overrides!)
- Grbl `error:` and `ALARM:` responses now only contain codes. No
descriptions. All codes are explained in documentation.
- Grbl’s old feedback style may be restored via a config.h, but
keep in mind that it will likely not fit into the Arduino’s flash space.
- Tweak: Grbl now forces a buffer sync or stop motion whenever a g-code
command needs to update and write a value to EEPROM or changes the work
coordinate offset.
- This addresses two old issues in all prior Grbl versions. First,
an EEPROM write requires interrupts to be disabled, including stepper
and serial comm. Steps can be lost and data can be corrupted. Second,
the work position may not be correlated to the actual machine position,
since machine position is derived from the actual current execution
state, while work position is based on the g-code parser offset state.
They are usually not in sync and the parser state is several motions
behind. This forced sync ensures work and machine positions are always
correct.
- This behavior can be disabled through a config.h option, but it’s
not recommended to do so.
- Tweak: To make status reports standardized, users can no longer
change what is reported via status report mask, except for only
toggling machine or work positions.
- All other data fields are included in the report and can only be
disabled through the config.h file. It’s not recommended to alter this,
because GUIs will be expecting this data to be present and may not be
compatible.
- Tweak: Homing cycle and parking motion no longer report a negative
line number in a status report. These will now not report a line number
at all.
- Tweak: New `[Restoring spindle]` message when restoring from a
spindle stop override. Provides feedback what Grbl is doing while the
spindle is powering up and a 4.0 second delay is enforced.
- Tweak: Override values are reset to 100% upon M2/30. This behavior
can be disabled in config.h
- Tweak: The planner buffer size has been reduced from 18 to 16 to free
up RAM for tracking and controlling overrides.
- Tweak: TX buffer size has been increased from 64 to 90 bytes to
improve status reporting and overall performance.
- Tweak: Removed the MOTION CANCEL state. It was redundant and didn’t
affect Grbl’s overall operation by doing so.
- Tweak: Grbl’s serial buffer increased by +1 internally, such that 128
bytes means 128, not 127 due to the ring buffer implementation. Long
overdue.
- Tweak: Altered sys.alarm variable to be set by alarm codes, rather
than bit flags. Simplified how it worked overall.
- Tweak: Planner buffer and serial RX buffer usage has been combined in
the status reports.
- Tweak: Pin state reporting has been refactored to report only the
pins “triggered” and nothing when not “triggered”.
- Tweak: Current machine rate or speed is now included in every report.
- Tweak: The work coordinate offset (WCO) and override states only need
to be refreshed intermittently or reported when they change. The
refresh rates may be altered for each in the config.h file with
different idle and busy rates to lessen Grbl’s load during a job.
- Tweak: For temporary compatibility to existing GUIs until they are
updated, an option to revert back to the old style status reports is
available in config.h, but not recommended for long term use.
- Tweak: Removed old limit pin state reporting option from config.h in
lieu of new status report that includes them.
- Tweak: Updated the defaults.h file to include laser mode, altered
status report mask, and fix an issue with a missing invert probe pin
default.
- Refactor: Changed how planner line data is generated and passed to
the planner and onto the step generator. By making it a struct
variable, this saved significant flash space.
- Refactor: Major re-factoring of the planner to incorporate override
values and allow for re-calculations fast enough to immediately take
effect during operation. No small feat.
- Refactor: Re-factored the step segment generator for re-computing new
override states.
- Refactor: Re-factored spindle_control.c to accommodate the spindle
speed overrides and laser mode.
- Refactor: Re-factored parts of the codebase for a new jogging mode.
Still under development though and slated to be part of the official
v1.0 release. Hang tight.
- Refactor: Created functions for computing a unit vector and value
limiting based on axis maximums to free up more flash.
- Refactor: The spindle PWM is now set directly inside of the stepper
ISR as it loads new step segments.
- Refactor: Moved machine travel checks out of soft limits function
into its own since jogging uses this too.
- Refactor: Removed coolant_stop() and combined with
coolant_set_state().
- Refactor: The serial RX ISR forks off extended ASCII values to
quickly assess the new override realtime commands.
- Refactor: Altered some names of the step control flags.
- Refactor: Improved efficiency of the serial RX get buffer count
function.
- Refactor: Saved significant flash by removing and combining print
functions. Namely the uint8 base10 and base2 functions.
- Refactor: Moved the probe state check in the main stepper ISR to
improve its efficiency.
- Refactor: Single character printPgmStrings() went converted to direct
serial_write() commands to save significant flash space.
- Documentation: Detailed Markdown documents on error codes, alarm
codes, messages, new real-time commands, new status reports, and how
jogging works. More to come later and will be posted on the Wiki as
well.
- Documentation: CSV files for quick importing of Grbl error and alarm
codes.
- Bug Fix: Applied v0.9 master fixes to CoreXY homing.
- Bug Fix: The print float function would cause Grbl to crash if a
value was 1e6 or greater. Increased the buffer by 3 bytes to help
prevent this in the future.
- Bug Fix: Build info and startup string EEPROM restoring was not
writing the checksum value.
- Bug Fix: Corrected an issue with safety door restoring the proper
spindle and coolant state. It worked before, but breaks with laser mode
that can continually change spindle state per planner block.
- Bug Fix: Move system position and probe position arrays out of the
system_t struct. Ran into some compiling errors that were hard to track
down as to why. Moving them out fixed it.
2016-09-22 03:08:24 +02:00
|
|
|
|
2016-03-30 19:58:47 +02:00
|
|
|
// Define flood and mist coolant enable output pins.
|
|
|
|
|
#define COOLANT_FLOOD_DDR DDRC
|
|
|
|
|
#define COOLANT_FLOOD_PORT PORTC
|
|
|
|
|
#define COOLANT_FLOOD_BIT 3 // Uno Analog Pin 3
|
Grbl v1.0e huge beta release. Overrides and new reporting.
- Feature: Realtime feed, rapid, and spindle speed overrides. These
alter the running machine state within tens of milliseconds!
- Feed override: 100%, +/-10%, +/-1% commands with values 1-200% of
programmed feed
- Rapid override: 100%, 50%, 25% rapid rate commands
- Spindle speed override: 100%, +/-10%, +/-1% commands with values
50-200% of programmed speed
- Override values have configurable limits and increments in
config.h.
- Feature: Realtime toggle overrides for spindle stop, flood coolant,
and optionally mist coolant
- Spindle stop: Enables and disables spindle during a feed hold.
Automatically restores last spindles state.
- Flood and mist coolant: Immediately toggles coolant state until
next toggle or g-code coolant command.
- Feature: Jogging mode! Incremental and absolute modes supported.
- Grbl accepts jogging-specific commands like $J=X100F50. An axis
word and feed rate are required. G20/21 and G90/G91 commands are
accepted.
- Jog motions can be canceled at any time by a feed hold `!`
command. The buffer is automatically flushed. (No resetting required).
- Jog motions do not alter the g-code parser state so GUIs don’t
have to track what they changed and correct it.
- Feature: Laser mode setting. Allows Grbl to execute continuous
motions with spindle speed and state changes.
- Feature: Significantly improved status reports. Overhauled to cram in
more meaningful data and still make it smaller on average.
- All available data is now sent by default, but does not appear if
it doesn’t change or is not active.
- Machine position(MPos) or work position(WPos) is reported but not
both at the same time. Instead, the work coordinate offsets (WCO)are
sent intermittently whenever it changes or refreshes after 10-30 status
reports. Position vectors are easily computed by WPos = MPos - WCO.
- All data has changed in some way. Details of changes are in the
markdown documents and wiki.
- Feature: 16 new realtime commands to control overrides. All in
extended-ASCII character space.
- While they are not easily typeable and requires a GUI, they can’t
be accidentally triggered by some latent character in the g-code
program and have tons of room for expansion.
- Feature: New substates for HOLD and SAFETY DOOR. A `:x` is appended
to the state, where `x` is an integer and indicates a substate.
- For example, each integer of a door state describes in what phase
the machine is in during parking. Substates are detailed in the
documentation.
- Feature: With the alarm codes, homing and probe alarms have been
expanded with more codes to provide more exact feedback on what caused
the alarm.
- Feature: New hard limit check upon power-up or reset. If detected, a
feedback message to check the limit switches sent immediately after the
welcome message.
- May be disabled in config.h.
- OEM feature: Enable/disable `$RST=` individual commands based on
desired behavior in config.h.
- OEM feature: Configurable EEPROM wipe to prevent certain data from
being deleted during firmware upgrade to a new settings version or
`RST=*` command.
- OEM feature: Enable/disable the `$I=` build info write string with
external EEPROM write example sketch.
- This prevents a user from altering the build info string in
EEPROM. This requires the vendor to write the string to EEPROM via
external means. An Arduino example sketch is provided to accomplish
this. This would be useful for contain product data that is
retrievable.
- Tweak: All feedback has been drastically trimmed to free up flash
space for the v1.0 release.
- The `$` help message is just one string, listing available
commands.
- The `$$` settings printout no longer includes descriptions. Only
the setting values. (Sorry it’s this or remove overrides!)
- Grbl `error:` and `ALARM:` responses now only contain codes. No
descriptions. All codes are explained in documentation.
- Grbl’s old feedback style may be restored via a config.h, but
keep in mind that it will likely not fit into the Arduino’s flash space.
- Tweak: Grbl now forces a buffer sync or stop motion whenever a g-code
command needs to update and write a value to EEPROM or changes the work
coordinate offset.
- This addresses two old issues in all prior Grbl versions. First,
an EEPROM write requires interrupts to be disabled, including stepper
and serial comm. Steps can be lost and data can be corrupted. Second,
the work position may not be correlated to the actual machine position,
since machine position is derived from the actual current execution
state, while work position is based on the g-code parser offset state.
They are usually not in sync and the parser state is several motions
behind. This forced sync ensures work and machine positions are always
correct.
- This behavior can be disabled through a config.h option, but it’s
not recommended to do so.
- Tweak: To make status reports standardized, users can no longer
change what is reported via status report mask, except for only
toggling machine or work positions.
- All other data fields are included in the report and can only be
disabled through the config.h file. It’s not recommended to alter this,
because GUIs will be expecting this data to be present and may not be
compatible.
- Tweak: Homing cycle and parking motion no longer report a negative
line number in a status report. These will now not report a line number
at all.
- Tweak: New `[Restoring spindle]` message when restoring from a
spindle stop override. Provides feedback what Grbl is doing while the
spindle is powering up and a 4.0 second delay is enforced.
- Tweak: Override values are reset to 100% upon M2/30. This behavior
can be disabled in config.h
- Tweak: The planner buffer size has been reduced from 18 to 16 to free
up RAM for tracking and controlling overrides.
- Tweak: TX buffer size has been increased from 64 to 90 bytes to
improve status reporting and overall performance.
- Tweak: Removed the MOTION CANCEL state. It was redundant and didn’t
affect Grbl’s overall operation by doing so.
- Tweak: Grbl’s serial buffer increased by +1 internally, such that 128
bytes means 128, not 127 due to the ring buffer implementation. Long
overdue.
- Tweak: Altered sys.alarm variable to be set by alarm codes, rather
than bit flags. Simplified how it worked overall.
- Tweak: Planner buffer and serial RX buffer usage has been combined in
the status reports.
- Tweak: Pin state reporting has been refactored to report only the
pins “triggered” and nothing when not “triggered”.
- Tweak: Current machine rate or speed is now included in every report.
- Tweak: The work coordinate offset (WCO) and override states only need
to be refreshed intermittently or reported when they change. The
refresh rates may be altered for each in the config.h file with
different idle and busy rates to lessen Grbl’s load during a job.
- Tweak: For temporary compatibility to existing GUIs until they are
updated, an option to revert back to the old style status reports is
available in config.h, but not recommended for long term use.
- Tweak: Removed old limit pin state reporting option from config.h in
lieu of new status report that includes them.
- Tweak: Updated the defaults.h file to include laser mode, altered
status report mask, and fix an issue with a missing invert probe pin
default.
- Refactor: Changed how planner line data is generated and passed to
the planner and onto the step generator. By making it a struct
variable, this saved significant flash space.
- Refactor: Major re-factoring of the planner to incorporate override
values and allow for re-calculations fast enough to immediately take
effect during operation. No small feat.
- Refactor: Re-factored the step segment generator for re-computing new
override states.
- Refactor: Re-factored spindle_control.c to accommodate the spindle
speed overrides and laser mode.
- Refactor: Re-factored parts of the codebase for a new jogging mode.
Still under development though and slated to be part of the official
v1.0 release. Hang tight.
- Refactor: Created functions for computing a unit vector and value
limiting based on axis maximums to free up more flash.
- Refactor: The spindle PWM is now set directly inside of the stepper
ISR as it loads new step segments.
- Refactor: Moved machine travel checks out of soft limits function
into its own since jogging uses this too.
- Refactor: Removed coolant_stop() and combined with
coolant_set_state().
- Refactor: The serial RX ISR forks off extended ASCII values to
quickly assess the new override realtime commands.
- Refactor: Altered some names of the step control flags.
- Refactor: Improved efficiency of the serial RX get buffer count
function.
- Refactor: Saved significant flash by removing and combining print
functions. Namely the uint8 base10 and base2 functions.
- Refactor: Moved the probe state check in the main stepper ISR to
improve its efficiency.
- Refactor: Single character printPgmStrings() went converted to direct
serial_write() commands to save significant flash space.
- Documentation: Detailed Markdown documents on error codes, alarm
codes, messages, new real-time commands, new status reports, and how
jogging works. More to come later and will be posted on the Wiki as
well.
- Documentation: CSV files for quick importing of Grbl error and alarm
codes.
- Bug Fix: Applied v0.9 master fixes to CoreXY homing.
- Bug Fix: The print float function would cause Grbl to crash if a
value was 1e6 or greater. Increased the buffer by 3 bytes to help
prevent this in the future.
- Bug Fix: Build info and startup string EEPROM restoring was not
writing the checksum value.
- Bug Fix: Corrected an issue with safety door restoring the proper
spindle and coolant state. It worked before, but breaks with laser mode
that can continually change spindle state per planner block.
- Bug Fix: Move system position and probe position arrays out of the
system_t struct. Ran into some compiling errors that were hard to track
down as to why. Moving them out fixed it.
2016-09-22 03:08:24 +02:00
|
|
|
#define COOLANT_MIST_DDR DDRC
|
|
|
|
|
#define COOLANT_MIST_PORT PORTC
|
|
|
|
|
#define COOLANT_MIST_BIT 4 // Uno Analog Pin 3
|
2016-03-30 19:58:47 +02:00
|
|
|
|
|
|
|
|
// Define user-control controls (cycle start, reset, feed hold) input pins.
|
|
|
|
|
// NOTE: All CONTROLs pins must be on the same port and not on a port with other input pins (limits).
|
|
|
|
|
#define CONTROL_DDR DDRC
|
|
|
|
|
#define CONTROL_PIN PINC
|
|
|
|
|
#define CONTROL_PORT PORTC
|
|
|
|
|
#define CONTROL_RESET_BIT 0 // Uno Analog Pin 0
|
|
|
|
|
#define CONTROL_FEED_HOLD_BIT 1 // Uno Analog Pin 1
|
|
|
|
|
#define CONTROL_CYCLE_START_BIT 2 // Uno Analog Pin 2
|
|
|
|
|
#define CONTROL_SAFETY_DOOR_BIT 1 // Uno Analog Pin 1 NOTE: Safety door is shared with feed hold. Enabled by config define.
|
|
|
|
|
#define CONTROL_INT PCIE1 // Pin change interrupt enable pin
|
|
|
|
|
#define CONTROL_INT_vect PCINT1_vect
|
|
|
|
|
#define CONTROL_PCMSK PCMSK1 // Pin change interrupt register
|
|
|
|
|
#define CONTROL_MASK ((1<<CONTROL_RESET_BIT)|(1<<CONTROL_FEED_HOLD_BIT)|(1<<CONTROL_CYCLE_START_BIT)|(1<<CONTROL_SAFETY_DOOR_BIT))
|
|
|
|
|
#define CONTROL_INVERT_MASK CONTROL_MASK // May be re-defined to only invert certain control pins.
|
Grbl v1.0e huge beta release. Overrides and new reporting.
- Feature: Realtime feed, rapid, and spindle speed overrides. These
alter the running machine state within tens of milliseconds!
- Feed override: 100%, +/-10%, +/-1% commands with values 1-200% of
programmed feed
- Rapid override: 100%, 50%, 25% rapid rate commands
- Spindle speed override: 100%, +/-10%, +/-1% commands with values
50-200% of programmed speed
- Override values have configurable limits and increments in
config.h.
- Feature: Realtime toggle overrides for spindle stop, flood coolant,
and optionally mist coolant
- Spindle stop: Enables and disables spindle during a feed hold.
Automatically restores last spindles state.
- Flood and mist coolant: Immediately toggles coolant state until
next toggle or g-code coolant command.
- Feature: Jogging mode! Incremental and absolute modes supported.
- Grbl accepts jogging-specific commands like $J=X100F50. An axis
word and feed rate are required. G20/21 and G90/G91 commands are
accepted.
- Jog motions can be canceled at any time by a feed hold `!`
command. The buffer is automatically flushed. (No resetting required).
- Jog motions do not alter the g-code parser state so GUIs don’t
have to track what they changed and correct it.
- Feature: Laser mode setting. Allows Grbl to execute continuous
motions with spindle speed and state changes.
- Feature: Significantly improved status reports. Overhauled to cram in
more meaningful data and still make it smaller on average.
- All available data is now sent by default, but does not appear if
it doesn’t change or is not active.
- Machine position(MPos) or work position(WPos) is reported but not
both at the same time. Instead, the work coordinate offsets (WCO)are
sent intermittently whenever it changes or refreshes after 10-30 status
reports. Position vectors are easily computed by WPos = MPos - WCO.
- All data has changed in some way. Details of changes are in the
markdown documents and wiki.
- Feature: 16 new realtime commands to control overrides. All in
extended-ASCII character space.
- While they are not easily typeable and requires a GUI, they can’t
be accidentally triggered by some latent character in the g-code
program and have tons of room for expansion.
- Feature: New substates for HOLD and SAFETY DOOR. A `:x` is appended
to the state, where `x` is an integer and indicates a substate.
- For example, each integer of a door state describes in what phase
the machine is in during parking. Substates are detailed in the
documentation.
- Feature: With the alarm codes, homing and probe alarms have been
expanded with more codes to provide more exact feedback on what caused
the alarm.
- Feature: New hard limit check upon power-up or reset. If detected, a
feedback message to check the limit switches sent immediately after the
welcome message.
- May be disabled in config.h.
- OEM feature: Enable/disable `$RST=` individual commands based on
desired behavior in config.h.
- OEM feature: Configurable EEPROM wipe to prevent certain data from
being deleted during firmware upgrade to a new settings version or
`RST=*` command.
- OEM feature: Enable/disable the `$I=` build info write string with
external EEPROM write example sketch.
- This prevents a user from altering the build info string in
EEPROM. This requires the vendor to write the string to EEPROM via
external means. An Arduino example sketch is provided to accomplish
this. This would be useful for contain product data that is
retrievable.
- Tweak: All feedback has been drastically trimmed to free up flash
space for the v1.0 release.
- The `$` help message is just one string, listing available
commands.
- The `$$` settings printout no longer includes descriptions. Only
the setting values. (Sorry it’s this or remove overrides!)
- Grbl `error:` and `ALARM:` responses now only contain codes. No
descriptions. All codes are explained in documentation.
- Grbl’s old feedback style may be restored via a config.h, but
keep in mind that it will likely not fit into the Arduino’s flash space.
- Tweak: Grbl now forces a buffer sync or stop motion whenever a g-code
command needs to update and write a value to EEPROM or changes the work
coordinate offset.
- This addresses two old issues in all prior Grbl versions. First,
an EEPROM write requires interrupts to be disabled, including stepper
and serial comm. Steps can be lost and data can be corrupted. Second,
the work position may not be correlated to the actual machine position,
since machine position is derived from the actual current execution
state, while work position is based on the g-code parser offset state.
They are usually not in sync and the parser state is several motions
behind. This forced sync ensures work and machine positions are always
correct.
- This behavior can be disabled through a config.h option, but it’s
not recommended to do so.
- Tweak: To make status reports standardized, users can no longer
change what is reported via status report mask, except for only
toggling machine or work positions.
- All other data fields are included in the report and can only be
disabled through the config.h file. It’s not recommended to alter this,
because GUIs will be expecting this data to be present and may not be
compatible.
- Tweak: Homing cycle and parking motion no longer report a negative
line number in a status report. These will now not report a line number
at all.
- Tweak: New `[Restoring spindle]` message when restoring from a
spindle stop override. Provides feedback what Grbl is doing while the
spindle is powering up and a 4.0 second delay is enforced.
- Tweak: Override values are reset to 100% upon M2/30. This behavior
can be disabled in config.h
- Tweak: The planner buffer size has been reduced from 18 to 16 to free
up RAM for tracking and controlling overrides.
- Tweak: TX buffer size has been increased from 64 to 90 bytes to
improve status reporting and overall performance.
- Tweak: Removed the MOTION CANCEL state. It was redundant and didn’t
affect Grbl’s overall operation by doing so.
- Tweak: Grbl’s serial buffer increased by +1 internally, such that 128
bytes means 128, not 127 due to the ring buffer implementation. Long
overdue.
- Tweak: Altered sys.alarm variable to be set by alarm codes, rather
than bit flags. Simplified how it worked overall.
- Tweak: Planner buffer and serial RX buffer usage has been combined in
the status reports.
- Tweak: Pin state reporting has been refactored to report only the
pins “triggered” and nothing when not “triggered”.
- Tweak: Current machine rate or speed is now included in every report.
- Tweak: The work coordinate offset (WCO) and override states only need
to be refreshed intermittently or reported when they change. The
refresh rates may be altered for each in the config.h file with
different idle and busy rates to lessen Grbl’s load during a job.
- Tweak: For temporary compatibility to existing GUIs until they are
updated, an option to revert back to the old style status reports is
available in config.h, but not recommended for long term use.
- Tweak: Removed old limit pin state reporting option from config.h in
lieu of new status report that includes them.
- Tweak: Updated the defaults.h file to include laser mode, altered
status report mask, and fix an issue with a missing invert probe pin
default.
- Refactor: Changed how planner line data is generated and passed to
the planner and onto the step generator. By making it a struct
variable, this saved significant flash space.
- Refactor: Major re-factoring of the planner to incorporate override
values and allow for re-calculations fast enough to immediately take
effect during operation. No small feat.
- Refactor: Re-factored the step segment generator for re-computing new
override states.
- Refactor: Re-factored spindle_control.c to accommodate the spindle
speed overrides and laser mode.
- Refactor: Re-factored parts of the codebase for a new jogging mode.
Still under development though and slated to be part of the official
v1.0 release. Hang tight.
- Refactor: Created functions for computing a unit vector and value
limiting based on axis maximums to free up more flash.
- Refactor: The spindle PWM is now set directly inside of the stepper
ISR as it loads new step segments.
- Refactor: Moved machine travel checks out of soft limits function
into its own since jogging uses this too.
- Refactor: Removed coolant_stop() and combined with
coolant_set_state().
- Refactor: The serial RX ISR forks off extended ASCII values to
quickly assess the new override realtime commands.
- Refactor: Altered some names of the step control flags.
- Refactor: Improved efficiency of the serial RX get buffer count
function.
- Refactor: Saved significant flash by removing and combining print
functions. Namely the uint8 base10 and base2 functions.
- Refactor: Moved the probe state check in the main stepper ISR to
improve its efficiency.
- Refactor: Single character printPgmStrings() went converted to direct
serial_write() commands to save significant flash space.
- Documentation: Detailed Markdown documents on error codes, alarm
codes, messages, new real-time commands, new status reports, and how
jogging works. More to come later and will be posted on the Wiki as
well.
- Documentation: CSV files for quick importing of Grbl error and alarm
codes.
- Bug Fix: Applied v0.9 master fixes to CoreXY homing.
- Bug Fix: The print float function would cause Grbl to crash if a
value was 1e6 or greater. Increased the buffer by 3 bytes to help
prevent this in the future.
- Bug Fix: Build info and startup string EEPROM restoring was not
writing the checksum value.
- Bug Fix: Corrected an issue with safety door restoring the proper
spindle and coolant state. It worked before, but breaks with laser mode
that can continually change spindle state per planner block.
- Bug Fix: Move system position and probe position arrays out of the
system_t struct. Ran into some compiling errors that were hard to track
down as to why. Moving them out fixed it.
2016-09-22 03:08:24 +02:00
|
|
|
|
2016-03-30 19:58:47 +02:00
|
|
|
// Define probe switch input pin.
|
|
|
|
|
#define PROBE_DDR DDRC
|
|
|
|
|
#define PROBE_PIN PINC
|
|
|
|
|
#define PROBE_PORT PORTC
|
|
|
|
|
#define PROBE_BIT 5 // Uno Analog Pin 5
|
|
|
|
|
#define PROBE_MASK (1<<PROBE_BIT)
|
|
|
|
|
|
Grbl v1.0e huge beta release. Overrides and new reporting.
- Feature: Realtime feed, rapid, and spindle speed overrides. These
alter the running machine state within tens of milliseconds!
- Feed override: 100%, +/-10%, +/-1% commands with values 1-200% of
programmed feed
- Rapid override: 100%, 50%, 25% rapid rate commands
- Spindle speed override: 100%, +/-10%, +/-1% commands with values
50-200% of programmed speed
- Override values have configurable limits and increments in
config.h.
- Feature: Realtime toggle overrides for spindle stop, flood coolant,
and optionally mist coolant
- Spindle stop: Enables and disables spindle during a feed hold.
Automatically restores last spindles state.
- Flood and mist coolant: Immediately toggles coolant state until
next toggle or g-code coolant command.
- Feature: Jogging mode! Incremental and absolute modes supported.
- Grbl accepts jogging-specific commands like $J=X100F50. An axis
word and feed rate are required. G20/21 and G90/G91 commands are
accepted.
- Jog motions can be canceled at any time by a feed hold `!`
command. The buffer is automatically flushed. (No resetting required).
- Jog motions do not alter the g-code parser state so GUIs don’t
have to track what they changed and correct it.
- Feature: Laser mode setting. Allows Grbl to execute continuous
motions with spindle speed and state changes.
- Feature: Significantly improved status reports. Overhauled to cram in
more meaningful data and still make it smaller on average.
- All available data is now sent by default, but does not appear if
it doesn’t change or is not active.
- Machine position(MPos) or work position(WPos) is reported but not
both at the same time. Instead, the work coordinate offsets (WCO)are
sent intermittently whenever it changes or refreshes after 10-30 status
reports. Position vectors are easily computed by WPos = MPos - WCO.
- All data has changed in some way. Details of changes are in the
markdown documents and wiki.
- Feature: 16 new realtime commands to control overrides. All in
extended-ASCII character space.
- While they are not easily typeable and requires a GUI, they can’t
be accidentally triggered by some latent character in the g-code
program and have tons of room for expansion.
- Feature: New substates for HOLD and SAFETY DOOR. A `:x` is appended
to the state, where `x` is an integer and indicates a substate.
- For example, each integer of a door state describes in what phase
the machine is in during parking. Substates are detailed in the
documentation.
- Feature: With the alarm codes, homing and probe alarms have been
expanded with more codes to provide more exact feedback on what caused
the alarm.
- Feature: New hard limit check upon power-up or reset. If detected, a
feedback message to check the limit switches sent immediately after the
welcome message.
- May be disabled in config.h.
- OEM feature: Enable/disable `$RST=` individual commands based on
desired behavior in config.h.
- OEM feature: Configurable EEPROM wipe to prevent certain data from
being deleted during firmware upgrade to a new settings version or
`RST=*` command.
- OEM feature: Enable/disable the `$I=` build info write string with
external EEPROM write example sketch.
- This prevents a user from altering the build info string in
EEPROM. This requires the vendor to write the string to EEPROM via
external means. An Arduino example sketch is provided to accomplish
this. This would be useful for contain product data that is
retrievable.
- Tweak: All feedback has been drastically trimmed to free up flash
space for the v1.0 release.
- The `$` help message is just one string, listing available
commands.
- The `$$` settings printout no longer includes descriptions. Only
the setting values. (Sorry it’s this or remove overrides!)
- Grbl `error:` and `ALARM:` responses now only contain codes. No
descriptions. All codes are explained in documentation.
- Grbl’s old feedback style may be restored via a config.h, but
keep in mind that it will likely not fit into the Arduino’s flash space.
- Tweak: Grbl now forces a buffer sync or stop motion whenever a g-code
command needs to update and write a value to EEPROM or changes the work
coordinate offset.
- This addresses two old issues in all prior Grbl versions. First,
an EEPROM write requires interrupts to be disabled, including stepper
and serial comm. Steps can be lost and data can be corrupted. Second,
the work position may not be correlated to the actual machine position,
since machine position is derived from the actual current execution
state, while work position is based on the g-code parser offset state.
They are usually not in sync and the parser state is several motions
behind. This forced sync ensures work and machine positions are always
correct.
- This behavior can be disabled through a config.h option, but it’s
not recommended to do so.
- Tweak: To make status reports standardized, users can no longer
change what is reported via status report mask, except for only
toggling machine or work positions.
- All other data fields are included in the report and can only be
disabled through the config.h file. It’s not recommended to alter this,
because GUIs will be expecting this data to be present and may not be
compatible.
- Tweak: Homing cycle and parking motion no longer report a negative
line number in a status report. These will now not report a line number
at all.
- Tweak: New `[Restoring spindle]` message when restoring from a
spindle stop override. Provides feedback what Grbl is doing while the
spindle is powering up and a 4.0 second delay is enforced.
- Tweak: Override values are reset to 100% upon M2/30. This behavior
can be disabled in config.h
- Tweak: The planner buffer size has been reduced from 18 to 16 to free
up RAM for tracking and controlling overrides.
- Tweak: TX buffer size has been increased from 64 to 90 bytes to
improve status reporting and overall performance.
- Tweak: Removed the MOTION CANCEL state. It was redundant and didn’t
affect Grbl’s overall operation by doing so.
- Tweak: Grbl’s serial buffer increased by +1 internally, such that 128
bytes means 128, not 127 due to the ring buffer implementation. Long
overdue.
- Tweak: Altered sys.alarm variable to be set by alarm codes, rather
than bit flags. Simplified how it worked overall.
- Tweak: Planner buffer and serial RX buffer usage has been combined in
the status reports.
- Tweak: Pin state reporting has been refactored to report only the
pins “triggered” and nothing when not “triggered”.
- Tweak: Current machine rate or speed is now included in every report.
- Tweak: The work coordinate offset (WCO) and override states only need
to be refreshed intermittently or reported when they change. The
refresh rates may be altered for each in the config.h file with
different idle and busy rates to lessen Grbl’s load during a job.
- Tweak: For temporary compatibility to existing GUIs until they are
updated, an option to revert back to the old style status reports is
available in config.h, but not recommended for long term use.
- Tweak: Removed old limit pin state reporting option from config.h in
lieu of new status report that includes them.
- Tweak: Updated the defaults.h file to include laser mode, altered
status report mask, and fix an issue with a missing invert probe pin
default.
- Refactor: Changed how planner line data is generated and passed to
the planner and onto the step generator. By making it a struct
variable, this saved significant flash space.
- Refactor: Major re-factoring of the planner to incorporate override
values and allow for re-calculations fast enough to immediately take
effect during operation. No small feat.
- Refactor: Re-factored the step segment generator for re-computing new
override states.
- Refactor: Re-factored spindle_control.c to accommodate the spindle
speed overrides and laser mode.
- Refactor: Re-factored parts of the codebase for a new jogging mode.
Still under development though and slated to be part of the official
v1.0 release. Hang tight.
- Refactor: Created functions for computing a unit vector and value
limiting based on axis maximums to free up more flash.
- Refactor: The spindle PWM is now set directly inside of the stepper
ISR as it loads new step segments.
- Refactor: Moved machine travel checks out of soft limits function
into its own since jogging uses this too.
- Refactor: Removed coolant_stop() and combined with
coolant_set_state().
- Refactor: The serial RX ISR forks off extended ASCII values to
quickly assess the new override realtime commands.
- Refactor: Altered some names of the step control flags.
- Refactor: Improved efficiency of the serial RX get buffer count
function.
- Refactor: Saved significant flash by removing and combining print
functions. Namely the uint8 base10 and base2 functions.
- Refactor: Moved the probe state check in the main stepper ISR to
improve its efficiency.
- Refactor: Single character printPgmStrings() went converted to direct
serial_write() commands to save significant flash space.
- Documentation: Detailed Markdown documents on error codes, alarm
codes, messages, new real-time commands, new status reports, and how
jogging works. More to come later and will be posted on the Wiki as
well.
- Documentation: CSV files for quick importing of Grbl error and alarm
codes.
- Bug Fix: Applied v0.9 master fixes to CoreXY homing.
- Bug Fix: The print float function would cause Grbl to crash if a
value was 1e6 or greater. Increased the buffer by 3 bytes to help
prevent this in the future.
- Bug Fix: Build info and startup string EEPROM restoring was not
writing the checksum value.
- Bug Fix: Corrected an issue with safety door restoring the proper
spindle and coolant state. It worked before, but breaks with laser mode
that can continually change spindle state per planner block.
- Bug Fix: Move system position and probe position arrays out of the
system_t struct. Ran into some compiling errors that were hard to track
down as to why. Moving them out fixed it.
2016-09-22 03:08:24 +02:00
|
|
|
// Variable spindle configuration below. Do not change unless you know what you are doing.
|
|
|
|
|
// NOTE: Only used when variable spindle is enabled.
|
|
|
|
|
#define SPINDLE_PWM_MAX_VALUE 255.0 // Don't change. 328p fast PWM mode fixes top value as 255.
|
|
|
|
|
#define SPINDLE_PWM_OFF_VALUE 0
|
|
|
|
|
#define SPINDLE_TCCRA_REGISTER TCCR2A
|
|
|
|
|
#define SPINDLE_TCCRB_REGISTER TCCR2B
|
|
|
|
|
#define SPINDLE_OCR_REGISTER OCR2A
|
|
|
|
|
#define SPINDLE_COMB_BIT COM2A1
|
|
|
|
|
|
|
|
|
|
// Prescaled, 8-bit Fast PWM mode.
|
|
|
|
|
#define SPINDLE_TCCRA_INIT_MASK ((1<<WGM20) | (1<<WGM21)) // Configures fast PWM mode.
|
|
|
|
|
// #define SPINDLE_TCCRB_INIT_MASK (1<<CS21) // 1/8 prescaler -> 7.8kHz (Used in v0.9)
|
|
|
|
|
// #define SPINDLE_TCCRB_INIT_MASK ((1<<CS21) | (1<<CS20)) // 1/32 prescaler -> 1.96kHz
|
|
|
|
|
#define SPINDLE_TCCRB_INIT_MASK (1<<CS22) // 1/64 prescaler -> 0.98kHz
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// NOTE: On the 328p, these must be the same as the SPINDLE_ENABLE settings.
|
|
|
|
|
#define SPINDLE_PWM_DDR DDRB
|
|
|
|
|
#define SPINDLE_PWM_PORT PORTB
|
|
|
|
|
#define SPINDLE_PWM_BIT 3 // Uno Digital Pin 11
|
2016-03-30 19:58:47 +02:00
|
|
|
|
2014-01-04 20:12:44 +01:00
|
|
|
#endif
|
2014-01-02 05:42:22 +01:00
|
|
|
|
Grbl v1.0e huge beta release. Overrides and new reporting.
- Feature: Realtime feed, rapid, and spindle speed overrides. These
alter the running machine state within tens of milliseconds!
- Feed override: 100%, +/-10%, +/-1% commands with values 1-200% of
programmed feed
- Rapid override: 100%, 50%, 25% rapid rate commands
- Spindle speed override: 100%, +/-10%, +/-1% commands with values
50-200% of programmed speed
- Override values have configurable limits and increments in
config.h.
- Feature: Realtime toggle overrides for spindle stop, flood coolant,
and optionally mist coolant
- Spindle stop: Enables and disables spindle during a feed hold.
Automatically restores last spindles state.
- Flood and mist coolant: Immediately toggles coolant state until
next toggle or g-code coolant command.
- Feature: Jogging mode! Incremental and absolute modes supported.
- Grbl accepts jogging-specific commands like $J=X100F50. An axis
word and feed rate are required. G20/21 and G90/G91 commands are
accepted.
- Jog motions can be canceled at any time by a feed hold `!`
command. The buffer is automatically flushed. (No resetting required).
- Jog motions do not alter the g-code parser state so GUIs don’t
have to track what they changed and correct it.
- Feature: Laser mode setting. Allows Grbl to execute continuous
motions with spindle speed and state changes.
- Feature: Significantly improved status reports. Overhauled to cram in
more meaningful data and still make it smaller on average.
- All available data is now sent by default, but does not appear if
it doesn’t change or is not active.
- Machine position(MPos) or work position(WPos) is reported but not
both at the same time. Instead, the work coordinate offsets (WCO)are
sent intermittently whenever it changes or refreshes after 10-30 status
reports. Position vectors are easily computed by WPos = MPos - WCO.
- All data has changed in some way. Details of changes are in the
markdown documents and wiki.
- Feature: 16 new realtime commands to control overrides. All in
extended-ASCII character space.
- While they are not easily typeable and requires a GUI, they can’t
be accidentally triggered by some latent character in the g-code
program and have tons of room for expansion.
- Feature: New substates for HOLD and SAFETY DOOR. A `:x` is appended
to the state, where `x` is an integer and indicates a substate.
- For example, each integer of a door state describes in what phase
the machine is in during parking. Substates are detailed in the
documentation.
- Feature: With the alarm codes, homing and probe alarms have been
expanded with more codes to provide more exact feedback on what caused
the alarm.
- Feature: New hard limit check upon power-up or reset. If detected, a
feedback message to check the limit switches sent immediately after the
welcome message.
- May be disabled in config.h.
- OEM feature: Enable/disable `$RST=` individual commands based on
desired behavior in config.h.
- OEM feature: Configurable EEPROM wipe to prevent certain data from
being deleted during firmware upgrade to a new settings version or
`RST=*` command.
- OEM feature: Enable/disable the `$I=` build info write string with
external EEPROM write example sketch.
- This prevents a user from altering the build info string in
EEPROM. This requires the vendor to write the string to EEPROM via
external means. An Arduino example sketch is provided to accomplish
this. This would be useful for contain product data that is
retrievable.
- Tweak: All feedback has been drastically trimmed to free up flash
space for the v1.0 release.
- The `$` help message is just one string, listing available
commands.
- The `$$` settings printout no longer includes descriptions. Only
the setting values. (Sorry it’s this or remove overrides!)
- Grbl `error:` and `ALARM:` responses now only contain codes. No
descriptions. All codes are explained in documentation.
- Grbl’s old feedback style may be restored via a config.h, but
keep in mind that it will likely not fit into the Arduino’s flash space.
- Tweak: Grbl now forces a buffer sync or stop motion whenever a g-code
command needs to update and write a value to EEPROM or changes the work
coordinate offset.
- This addresses two old issues in all prior Grbl versions. First,
an EEPROM write requires interrupts to be disabled, including stepper
and serial comm. Steps can be lost and data can be corrupted. Second,
the work position may not be correlated to the actual machine position,
since machine position is derived from the actual current execution
state, while work position is based on the g-code parser offset state.
They are usually not in sync and the parser state is several motions
behind. This forced sync ensures work and machine positions are always
correct.
- This behavior can be disabled through a config.h option, but it’s
not recommended to do so.
- Tweak: To make status reports standardized, users can no longer
change what is reported via status report mask, except for only
toggling machine or work positions.
- All other data fields are included in the report and can only be
disabled through the config.h file. It’s not recommended to alter this,
because GUIs will be expecting this data to be present and may not be
compatible.
- Tweak: Homing cycle and parking motion no longer report a negative
line number in a status report. These will now not report a line number
at all.
- Tweak: New `[Restoring spindle]` message when restoring from a
spindle stop override. Provides feedback what Grbl is doing while the
spindle is powering up and a 4.0 second delay is enforced.
- Tweak: Override values are reset to 100% upon M2/30. This behavior
can be disabled in config.h
- Tweak: The planner buffer size has been reduced from 18 to 16 to free
up RAM for tracking and controlling overrides.
- Tweak: TX buffer size has been increased from 64 to 90 bytes to
improve status reporting and overall performance.
- Tweak: Removed the MOTION CANCEL state. It was redundant and didn’t
affect Grbl’s overall operation by doing so.
- Tweak: Grbl’s serial buffer increased by +1 internally, such that 128
bytes means 128, not 127 due to the ring buffer implementation. Long
overdue.
- Tweak: Altered sys.alarm variable to be set by alarm codes, rather
than bit flags. Simplified how it worked overall.
- Tweak: Planner buffer and serial RX buffer usage has been combined in
the status reports.
- Tweak: Pin state reporting has been refactored to report only the
pins “triggered” and nothing when not “triggered”.
- Tweak: Current machine rate or speed is now included in every report.
- Tweak: The work coordinate offset (WCO) and override states only need
to be refreshed intermittently or reported when they change. The
refresh rates may be altered for each in the config.h file with
different idle and busy rates to lessen Grbl’s load during a job.
- Tweak: For temporary compatibility to existing GUIs until they are
updated, an option to revert back to the old style status reports is
available in config.h, but not recommended for long term use.
- Tweak: Removed old limit pin state reporting option from config.h in
lieu of new status report that includes them.
- Tweak: Updated the defaults.h file to include laser mode, altered
status report mask, and fix an issue with a missing invert probe pin
default.
- Refactor: Changed how planner line data is generated and passed to
the planner and onto the step generator. By making it a struct
variable, this saved significant flash space.
- Refactor: Major re-factoring of the planner to incorporate override
values and allow for re-calculations fast enough to immediately take
effect during operation. No small feat.
- Refactor: Re-factored the step segment generator for re-computing new
override states.
- Refactor: Re-factored spindle_control.c to accommodate the spindle
speed overrides and laser mode.
- Refactor: Re-factored parts of the codebase for a new jogging mode.
Still under development though and slated to be part of the official
v1.0 release. Hang tight.
- Refactor: Created functions for computing a unit vector and value
limiting based on axis maximums to free up more flash.
- Refactor: The spindle PWM is now set directly inside of the stepper
ISR as it loads new step segments.
- Refactor: Moved machine travel checks out of soft limits function
into its own since jogging uses this too.
- Refactor: Removed coolant_stop() and combined with
coolant_set_state().
- Refactor: The serial RX ISR forks off extended ASCII values to
quickly assess the new override realtime commands.
- Refactor: Altered some names of the step control flags.
- Refactor: Improved efficiency of the serial RX get buffer count
function.
- Refactor: Saved significant flash by removing and combining print
functions. Namely the uint8 base10 and base2 functions.
- Refactor: Moved the probe state check in the main stepper ISR to
improve its efficiency.
- Refactor: Single character printPgmStrings() went converted to direct
serial_write() commands to save significant flash space.
- Documentation: Detailed Markdown documents on error codes, alarm
codes, messages, new real-time commands, new status reports, and how
jogging works. More to come later and will be posted on the Wiki as
well.
- Documentation: CSV files for quick importing of Grbl error and alarm
codes.
- Bug Fix: Applied v0.9 master fixes to CoreXY homing.
- Bug Fix: The print float function would cause Grbl to crash if a
value was 1e6 or greater. Increased the buffer by 3 bytes to help
prevent this in the future.
- Bug Fix: Build info and startup string EEPROM restoring was not
writing the checksum value.
- Bug Fix: Corrected an issue with safety door restoring the proper
spindle and coolant state. It worked before, but breaks with laser mode
that can continually change spindle state per planner block.
- Bug Fix: Move system position and probe position arrays out of the
system_t struct. Ran into some compiling errors that were hard to track
down as to why. Moving them out fixed it.
2016-09-22 03:08:24 +02:00
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/*
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2013-12-31 02:44:46 +01:00
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#ifdef CPU_MAP_CUSTOM_PROC
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2015-05-23 20:43:52 +02:00
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// For a custom pin map or different processor, copy and edit one of the available cpu
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// map files and modify it to your needs. Make sure the defined name is also changed in
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// the config.h file.
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2013-10-30 02:10:39 +01:00
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#endif
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*/
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#endif
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